RTAB-Map RTAB-Map Real-Time Appearance-Based Mapping Settings Dropbox "Status: " "Words: " First Third Top Pause Paused Lighting Lighting Close Visualization Start "Nodes (WM): " "Number of points: " "Update time (ms): " "Loop closure ID: " "Database (MB): " "Loop closures: " "Inliers: " "Features: " "Polygons: " "Memory (MB): " "Hypothesis: " "FPS (rendering): " pref_key_rendering2 pref_key_reset_button pref_key_decimation 0 pref_key_depth 0 pref_key_point_size 5 pref_key_angle 15 pref_key_triangle 2 pref_key_nodes_filtering false pref_key_append true pref_key_drift_correction false pref_key_auto_exposure true pref_key_resolution false pref_key_update_rate 1 pref_key_time_thr 800 pref_key_loop_thr 0.11 pref_key_opt_error 0.1 pref_key_features 400 pref_key_features_type 6 pref_key_cloud_voxel 0 pref_key_texture_size 4096 pref_key_normal_k 6 pref_key_block_render false pref_key_opt_depth 8 pref_key_opt_decimation_factor80 pref_key_opt_color_radius 0.0 pref_key_opt_clean_white true pref_key_gain_max_radius 0.02 pref_key_min_cluster_size 200 Rendering Mesh Decimation Decimate the cloud size to reduce rendering time and memory. Mesh Angle Tolerance Minimum polygon angle. Mesh Triangle Size Size in pixels of the polygons created from the depth image. Max Depth Points over the maximum depth are not rendered. Point Size Size of the points when rendering only the point cloud. Nodes Filtering Hide close point clouds from rendering. "High" "Medium" "Disabled" "2" "1" "0" "No Limit" "5" "4" "3" "2" "1" "0" "5" "4" "3" "2" "1" "50" "30" "25" "15" "5" "1" "30 deg" "25 deg" "20 deg" "15 deg" "10 deg" "5 deg" "30" "25" "20" "15" "10" "5" "6 pix" "5 pix" "4 pix" "3 pix" "2 pix" "6" "5" "4" "3" "2" Mapping Advanced mapping parameters for fine tuning. Append Mode When resuming mapping, wait for a relocalization on the current map before starting a new map. Drift Correction Iterative-closest-point (ICP) is done to refine geometrically the links in the map. Use only when environment is highly geometric. Camera should move slowly. Auto Exposure Adjust camera exposure depending on the lighting to get always maximum contrast. This may change texture color between scanned images. Color correction option in Post-Processing can help to uniformize colors. May not work on some devices. HD Mode Save HD images if you want very detailed textures. More memory will be required. Update Rate Rate at which a new node is added to map. Time Limit Maximum time allowed for map updates. If time to add a new node is above this theshold, some old parts of the map are temporarly forgotten to reduce time of next updates. Loop Closure Threshold Threshold at which loop closure hypotheses are accepted. Higher means more robust to false loop closures while rejecting more good loop closures. Max Optimization Error Reject any loop closures causing error corrections in the map higher than this threshold. Max Features Extracted Extracting more features per image would result in better loop closure detection but more processing time required. Feature Type BRIEF features are fast to compute but are not rotation invariant like FREAK. Warning: Changing feature type will automatically reset the map! "Max" "5 Hz" "4 Hz" "3 Hz" "2 Hz" "1 Hz" "0.5 Hz" "0" "5" "4" "3" "2" "1" "0.5" "No Limit" "1500 ms" "1400 ms" "1300 ms" "1200 ms" "1100 ms" "1000 ms" "900 ms" "800 ms" "700 ms" "600 ms" "500 ms" "400" "0" "1500" "1400" "1300" "1200" "1100" "1000" "900" "800" "700" "600" "500" "400" "0.90" "0.80" "0.70" "0.60" "0.50" "0.40" "0.30" "0.20" "0.11" "0.90" "0.80" "0.70" "0.60" "0.50" "0.40" "0.30" "0.20" "0.11" "1.0 m" "0.5 m" "0.35 m" "0.2 m" "0.1 m" "0.05 m" "0.025 m" "0.01 m" "Disabled" "1.0" "0.5" "0.35" "0.2" "0.1" "0.05" "0.025" "0.01" "0" "No Limit" "1000" "900" "800" "700" "600" "500" "400" "300" "200" "100" "Disabled" "0" "1000" "900" "800" "700" "600" "500" "400" "300" "200" "100" "-1" "BRIEF" "FREAK" "6" "5" Exporting Advanced parameters used when exporting the map. Voxel Size If you don\'t need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh. Texture Size If the map is large, you may want to increase this to maximize the texture resolution. Normal K K-nearest neighbors used for normal computation when a mesh is created. Block Rendering Thread While Exporting This decreases exporting time, but freezes rendering while exporting. "0.2 m" "0.1 m" "0.05 m" "0.02 m" "0.01 m" "Disabled" "0.2" "0.1" "0.05" "0.02" "0.01" "0" "16384x16384" "8192x8192" "4096x4096" "2048x2048" "1024x1024" "16384" "8192" "4096" "2048" "1024" "30" "24" "18" "12" "6" Optimized Voxel Size Increasing this can reduce reconstruction time at the cost of less geometry precision. Reconstruction Depth Lowering this parameter decreases reconstruction time, but geometry precision is lower. Mesh Decimation Factor Reduce the number of the output polygons on plane areas by this factor. This also reduces texture projection time. Color Radius Radius used to transfer nearest color from the point cloud to reconstructed mesh. Clean Mesh Clean mesh from textureless or colorless reconstructed polygons. "12" "11" "10" "9" "8" "7" "6" "90%" "80%" "70%" "60%" "50%" "40%" "30%" "20%" "10%" "Disabled" "90" "80" "70" "60" "50" "40" "30" "20" "20" "0" "Nearest" "2 m" "1 m" "0.5 m" "0.2 m" "0.05 m" "0.01 m" "Disabled" "0" "2" "1" "0.5" "0.2" "0.05" "0.01" "-1" General Color Correction Radius Radius used to find pixel correspondences for color correction. Min Cluster Size Minimum number of polygons for a cluster to be kept after Noise Filtering optimization. "0.3 m" "0.2 m" "0.1 m" "0.05 m" "0.02 m" "0.01 m" "0.3" "0.2" "0.1" "0.05" "0.02" "0.01" "500" "200" "100" "50" "10" Restore All Default Settings