Issue of the color blocks

[Seb]

Hi,

I just found your powerful application for scanning, there is a little problem while I'm using it. During the run time, sometimes it will generate some color blocks with different colors while scanning a single-colored wall or  floor. I've tried to adjust colors by changing color correction radius but I couldn't fix that.
What can I change in settings or in code parameters in order to fix that?
(Actually I don't even need my 3d model to be as colorful as it is in reality, I just want to make my mesh seem clean.)

Cheers.

[matlabbe]

Hi,

Are you referring to RTAB-Map Tango or RTAB-Map desktop? The different colors are generally caused by the auto-exposure or the auto-white-balance of the camera. When rendering the map while scanning, we cannot avoid this effect. I posted today a new version of RTAB-Map Tango that would smooth more the colors while scanning. However, to get the best color balance, export Optimized Mesh.

In RTAB-Map Tango: When exporting the Optimized Mesh, there is a color balance that is done. Make sure to have the latest version to get the best results. Example Raw Mesh vs Optimized Mesh:
https://sketchfab.com/models/ebf3b7f33e374b08ae2891f34b1c5c96

https://sketchfab.com/models/1183891f84d140ffa814b857559bdf80


RTAB-Map desktop binaries (0.12.4) don't have yet the update to get results of the second screenshot. You have to build rtabmap from source or wait for 0.12.5 binaries.

cheers,
Mathieu