Most options from the UI are available from rtabmap-export. See the usage description:
$ rtabmap-export
Usage:
rtabmap-export [options] database.db
Options:
--output "" Output name (default: name of the database is used).
--output_dir "" Output directory (default: same directory than the database).
--ascii Export PLY in ascii format.
--las Export cloud in LAS instead of PLY (PDAL dependency required).
--mesh Create a mesh.
--texture Create a mesh with texture.
--texture_size # Texture size 1024, 2048, 4096, 8192, 16384 (default 8192).
--texture_count # Maximum textures generated (default 1). Ignored by --multiband option (adjust --multiband_contrib instead).
--texture_range # Maximum camera range for texturing a polygon (default 0 meters: no limit).
--texture_angle # Maximum camera angle for texturing a polygon (default 0 deg: no limit).
--texture_depth_error # Maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used, default=0).
--texture_roi_ratios "# # # #" Region of interest from images to texture or to color scans. Format is "left right top bottom" (e.g. "0 0 0 0.1" means 10% of the image bottom not used).
--texture_d2c Distance to camera policy.
--texture_blur # Motion blur threshold (default 0: disabled). Below this threshold, the image is considered blurred. 0 means disabled. 50 can be good default.
--cam_projection Camera projection on assembled cloud and export node ID on each point (in PointSourceId field).
--cam_projection_keep_all Keep not colored points from cameras (node ID will be 0 and color will be red).
--cam_projection_decimation Decimate images before projecting the points.
--cam_projection_mask "" File path for a mask. Format should be 8-bits grayscale. The mask should cover all cameras in case multi-camera is used and have the same resolution.
--poses Export optimized poses of the robot frame (e.g., base_link).
--poses_camera Export optimized poses of the camera frame (e.g., optical frame).
--poses_scan Export optimized poses of the scan frame.
--poses_format # Format used for exported poses (default is 11):
0=Raw 3x4 transformation matrix (r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz)
1=RGBD-SLAM (in motion capture coordinate frame)
2=KITTI (same as raw but in optical frame)
3=TORO
4=g2o
10=RGBD-SLAM in ROS coordinate frame (stamp x y z qx qy qz qw)
11=RGBD-SLAM in ROS coordinate frame + ID (stamp x y z qx qy qz qw id)
--images Export images with stamp as file name.
--images_id Export images with node id as file name.
--ba Do global bundle adjustment before assembling the clouds.
--gain # Gain compensation value (default 1, set 0 to disable).
--gain_gray Do gain estimation compensation on gray channel only (default RGB channels).
--no_blending Disable blending when texturing.
--no_clean Disable cleaning colorless polygons.
--min_cluster # When meshing, filter clusters of polygons with size less than this threshold (default 200, -1 means keep only biggest contiguous surface).
--low_gain # Low brightness gain 0-100 (default 0).
--high_gain # High brightness gain 0-100 (default 10).
--multiband Enable multiband texturing (AliceVision dependency required).
--multiband_downscale # Downscaling reduce the texture quality but speed up the computation time (default 2).
--multiband_contrib "# # # # " Number of contributions per frequency band for the multi-band blending, should be 4 values! (default "1 5 10 0").
--multiband_unwrap # Method to unwrap input mesh: 0=basic (default, >600k faces, fast), 1=ABF (<=300k faces, generate 1 atlas), 2=LSCM (<=600k faces, optimize space).
--multiband_fillholes Fill Texture holes with plausible values.
--multiband_padding # Texture edge padding size in pixel (0-100) (default 5).
--multiband_scorethr # 0 to disable filtering based on threshold to relative best score (0.0-1.0). (default 0.1).
--multiband_anglethr # 0 to disable angle hard threshold filtering (0.0, 180.0) (default 90.0).
--multiband_forcevisible Triangle visibility is based on the union of vertices visibility.
--poisson_depth # Set Poisson depth for mesh reconstruction.
--poisson_size # Set target polygon size when computing Poisson's depth for mesh reconstruction (default 0.03 m).
--max_polygons # Maximum polygons when creating a mesh (default 300000, set 0 for no limit).
--min_range # Minimum range of the created clouds (default 0 m).
--max_range # Maximum range of the created clouds (default 4 m, 0 m with --scan).
--decimation # Depth image decimation before creating the clouds (default 4, 1 with --scan).
--voxel # Voxel size of the created clouds (default 0.01 m, 0 m with --scan).
--ground_normals_up # Flip ground normals up if close to -z axis (default 0, 0=disabled, value should be >0 and <1, typical 0.9).
--noise_radius # Noise filtering search radius (default 0, 0=disabled).
--noise_k # Noise filtering minimum neighbors in search radius (default 5, 0=disabled).
--prop_radius_factor # Proportional radius filter factor (default 0, 0=disabled). Start tuning from 0.01.
--prop_radius_scale # Proportional radius filter neighbor scale (default 2).
--random_samples # Number of output samples using a random filter (default 0, 0=disabled).
--color_radius # Radius used to colorize polygons (default 0.05 m, 0 m with --scan). Set 0 for nearest color.
--scan Use laser scan for the point cloud.
--save_in_db Save resulting assembled point cloud or mesh in the database.
--xmin # Minimum range on X axis to keep nodes to export.
--xmax # Maximum range on X axis to keep nodes to export.
--ymin # Minimum range on Y axis to keep nodes to export.
--ymax # Maximum range on Y axis to keep nodes to export.
--zmin # Minimum range on Z axis to keep nodes to export.
--zmax # Maximum range on Z axis to keep nodes to export.
--filter_ceiling # Filter points over a custom height (default 0 m, 0=disabled).
--filter_floor # Filter points below a custom height (default 0 m, 0=disabled).
RTAB-Map options:
--help Show usage.
--version Show version of rtabmap and its dependencies.
--params Show all parameters with their default value and description.
If a database path is set as last argument, the parameters in the
database will be shown in INI format.
--"parameter name" "value" Overwrite a specific RTAB-Map's parameter :
--SURF/HessianThreshold 150
For parameters in table format, add ',' between values :
--Kp/RoiRatios 0,0,0.1,0
Logger options:
--nolog Disable logger
--logconsole Set logger console type
--logfile "path" Set logger file type
--logfilea "path" Set logger file type with appending mode if the file already exists
--udebug Set logger level to debug
--uinfo Set logger level to info
--uwarn Set logger level to warn
--uerror Set logger level to error
--logtime "bool" Print time when logging
--logwhere "bool" Print where when logging
--logthread "bool" Print thread id when logging
If you find a satisfactory combination of parameters from DatabaseViewer and you are not sure what are the corresponding options here, I could help you.
Locked
Sep 21, 2024; 7:35pm
