How can we see the parameters used in the RTABMap GUI, so that they can be used in the CLI?

[antoinemacia]

I found the GUI and database viewer to be very helpful in debugging, but found it difficult to translate the different options and parameters into their respective CLI/DB parameters

Is there a way to easily print the parameters used during a reprocessing and export?

[antoinemacia]

Ill answer my own question!

 rtabmap-export --params "data.db"

[matlabbe]

From the UI, with rtabmap-databaseViewer, you can open either the Info view or the Core Parameters view. The parameters in the Core Parameters view are grouped like their code name. You can also mouse-over a parameter to get the description as shown in rtabmap --params:

For the main GUI, in preferences dialog, you can also mouse over the parameters to see their code name and default value (only for Core parameters):

To see quickly parameters that are different from the default values, we can do:

rtabmap-info --diff data.db

To compare differences between two databases:

rtabmap-info --diff data1.db data2.db

[antoinemacia]

@matlabbe any ways we can see the "export" params used by rtabmap main GUI? (or database viewer)

[matlabbe]

They should be saved in the ~/.rtabmap/rtabmap.ini file. Note that their name there doesn't match the options of rtabmap-export.

export parameters from rtabmap.ini

ExportCloudsDialog\assemble=true
ExportCloudsDialog\assemble_samples=0
ExportCloudsDialog\assemble_voxel=0
ExportCloudsDialog\bilateral=false
ExportCloudsDialog\bilateral_sigma_r=0.1
ExportCloudsDialog\bilateral_sigma_s=10
ExportCloudsDialog\binary=true
ExportCloudsDialog\cam_proj=false
ExportCloudsDialog\cam_proj_decimation=1
ExportCloudsDialog\cam_proj_distance_policy=true
ExportCloudsDialog\cam_proj_export_format=0
ExportCloudsDialog\cam_proj_keep_points=false
ExportCloudsDialog\cam_proj_mask=
ExportCloudsDialog\cam_proj_max_angle=0
ExportCloudsDialog\cam_proj_max_depth_error=0
ExportCloudsDialog\cam_proj_max_distance=0
ExportCloudsDialog\cam_proj_recolor_points=true
ExportCloudsDialog\cam_proj_roi_ratios=0.0 0.0 0.0 0.0
ExportCloudsDialog\cputsdf_flattenRadius=0.005
ExportCloudsDialog\cputsdf_minWeight=0
ExportCloudsDialog\cputsdf_randomSplit=1
ExportCloudsDialog\cputsdf_resolution=0.01
ExportCloudsDialog\cputsdf_size=12
ExportCloudsDialog\cputsdf_truncNeg=0.03
ExportCloudsDialog\cputsdf_truncPos=0.03
ExportCloudsDialog\filtering=false
ExportCloudsDialog\filtering_min_neighbors=5
ExportCloudsDialog\filtering_radius=0
ExportCloudsDialog\frame=0
ExportCloudsDialog\from_depth=true
ExportCloudsDialog\gain=false
ExportCloudsDialog\gain_beta=10
ExportCloudsDialog\gain_full=false
ExportCloudsDialog\gain_overlap=0
ExportCloudsDialog\gain_radius=0.02
ExportCloudsDialog\gain_rgb=true
ExportCloudsDialog\intensity_colormap=0
ExportCloudsDialog\mesh=true
ExportCloudsDialog\mesh_angle_tolerance=15
ExportCloudsDialog\mesh_clean=true
ExportCloudsDialog\mesh_color_radius=0.05
ExportCloudsDialog\mesh_decimation_factor=0
ExportCloudsDialog\mesh_dense_strategy=1
ExportCloudsDialog\mesh_max_polygons=0
ExportCloudsDialog\mesh_min_cluster_size=0
ExportCloudsDialog\mesh_mu=2.5
ExportCloudsDialog\mesh_quad=false
ExportCloudsDialog\mesh_radius=0.2
ExportCloudsDialog\mesh_texture=true
ExportCloudsDialog\mesh_textureBlending=true
ExportCloudsDialog\mesh_textureBlendingDecimation=0
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=5
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
ExportCloudsDialog\mesh_textureCameraFiltering=false
ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
ExportCloudsDialog\mesh_textureCameraFilteringVel=0
ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
ExportCloudsDialog\mesh_textureDistanceToCamPolicy=false
ExportCloudsDialog\mesh_textureExposureFusion=false
ExportCloudsDialog\mesh_textureFormat=0
ExportCloudsDialog\mesh_textureMaxAngle=0
ExportCloudsDialog\mesh_textureMaxCount=8
ExportCloudsDialog\mesh_textureMaxDepthError=0
ExportCloudsDialog\mesh_textureMaxDistance=3
ExportCloudsDialog\mesh_textureMinCluster=50
ExportCloudsDialog\mesh_textureMultiband=false
ExportCloudsDialog\mesh_textureMultibandAngleHardThr=90
ExportCloudsDialog\mesh_textureMultibandBestScoreThr=0.1
ExportCloudsDialog\mesh_textureMultibandDownScale=2
ExportCloudsDialog\mesh_textureMultibandFillHoles=false
ExportCloudsDialog\mesh_textureMultibandForceVisible=false
ExportCloudsDialog\mesh_textureMultibandNbContrib=1 5 10 0
ExportCloudsDialog\mesh_textureMultibandPadding=5
ExportCloudsDialog\mesh_textureMultibandUnwrap=0
ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
ExportCloudsDialog\mesh_textureSize=3
ExportCloudsDialog\mesh_textureVertexColorPolicy=0
ExportCloudsDialog\mesh_triangle_size=1
ExportCloudsDialog\mls=false
ExportCloudsDialog\mls_dilation_iterations=1
ExportCloudsDialog\mls_dilation_voxel_size=0.005
ExportCloudsDialog\mls_output_voxel_size=0
ExportCloudsDialog\mls_point_density=10
ExportCloudsDialog\mls_polygonial_order=2
ExportCloudsDialog\mls_radius=0.04
ExportCloudsDialog\mls_upsampling_method=0
ExportCloudsDialog\mls_upsampling_radius=0.01
ExportCloudsDialog\mls_upsampling_step=0.005
ExportCloudsDialog\nodes_filtering=false
ExportCloudsDialog\nodes_filtering_xmax=0
ExportCloudsDialog\nodes_filtering_xmin=0
ExportCloudsDialog\nodes_filtering_ymax=0
ExportCloudsDialog\nodes_filtering_ymin=0
ExportCloudsDialog\nodes_filtering_zmax=0
ExportCloudsDialog\nodes_filtering_zmin=0
ExportCloudsDialog\normals_ground_normals_up=0
ExportCloudsDialog\normals_k=20
ExportCloudsDialog\normals_radius=0
ExportCloudsDialog\openchisel_carving_dist_m=0.05
ExportCloudsDialog\openchisel_chunk_size_x=16
ExportCloudsDialog\openchisel_chunk_size_y=16
ExportCloudsDialog\openchisel_chunk_size_z=16
ExportCloudsDialog\openchisel_far_plane_dist=1.1
ExportCloudsDialog\openchisel_integration_weight=1
ExportCloudsDialog\openchisel_merge_vertices=true
ExportCloudsDialog\openchisel_near_plane_dist=0.05
ExportCloudsDialog\openchisel_truncation_constant=0.001504
ExportCloudsDialog\openchisel_truncation_linear=0.00152
ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
ExportCloudsDialog\openchisel_truncation_scale=10
ExportCloudsDialog\openchisel_use_voxel_carving=false
ExportCloudsDialog\pipeline=1
ExportCloudsDialog\poisson_depth=8
ExportCloudsDialog\poisson_iso=8
ExportCloudsDialog\poisson_manifold=true
ExportCloudsDialog\poisson_minDepth=5
ExportCloudsDialog\poisson_outputPolygons=false
ExportCloudsDialog\poisson_pointWeight=4
ExportCloudsDialog\poisson_polygon_size=0.03
ExportCloudsDialog\poisson_samples=1
ExportCloudsDialog\poisson_scale=1.1
ExportCloudsDialog\poisson_solver=8
ExportCloudsDialog\regenerate=true
ExportCloudsDialog\regenerate_ceiling=0
ExportCloudsDialog\regenerate_decimation=8
ExportCloudsDialog\regenerate_distortion_model=
ExportCloudsDialog\regenerate_edge_bleeding_error=0
ExportCloudsDialog\regenerate_fill_error=2
ExportCloudsDialog\regenerate_fill_size=0
ExportCloudsDialog\regenerate_floor=0
ExportCloudsDialog\regenerate_footprint_height=0
ExportCloudsDialog\regenerate_footprint_length=0
ExportCloudsDialog\regenerate_footprint_width=0
ExportCloudsDialog\regenerate_max_depth=4
ExportCloudsDialog\regenerate_min_depth=0
ExportCloudsDialog\regenerate_min_depth_confidence=0
ExportCloudsDialog\regenerate_offaxis_filtering=false
ExportCloudsDialog\regenerate_offaxis_filtering_angle=10
ExportCloudsDialog\regenerate_offaxis_filtering_neg_x=true
ExportCloudsDialog\regenerate_offaxis_filtering_neg_y=true
ExportCloudsDialog\regenerate_offaxis_filtering_neg_z=true
ExportCloudsDialog\regenerate_offaxis_filtering_pos_x=true
ExportCloudsDialog\regenerate_offaxis_filtering_pos_y=true
ExportCloudsDialog\regenerate_offaxis_filtering_pos_z=true
ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
ExportCloudsDialog\regenerate_scan_decimation=1
ExportCloudsDialog\regenerate_scan_max_range=0
ExportCloudsDialog\regenerate_scan_min_range=0
ExportCloudsDialog\subtract=false
ExportCloudsDialog\subtract_min_neighbors=5
ExportCloudsDialog\subtract_point_angle=0
ExportCloudsDialog\subtract_point_radius=0.02