Building RTAB-Map installs a set of executables next to the libraries. They are built on the same API these pages document, so each one is also a worked example of it – and the quickest way to inspect, replay or convert a map without writing code.

All of them take the --Param Group/Name value arguments described in the Parameter reference, and print their options with --help.

Working with a map

Command	What it does
`rtabmap-info`	Prints a database summary: version, sizes, parameters and per-node statistics. `--diff` shows only the parameters that differ from the defaults, or from another database.
`rtabmap-export`	Exports the map: assembled point cloud, mesh or textured mesh (`.ply`, `.pcd`, `.obj`), 2D occupancy grid, poses and camera images. Filtering, decimation, colour and texturing are all options.
`rtabmap-report`	Reports the statistics recorded in one or several databases: RMSE against ground truth, timings, loop closures. Plots them when built with Qt.
`rtabmap-recovery`	Repairs a database whose session was not closed properly (e.g. after a crash), by rebuilding it from the nodes and links that can still be read. The original is kept as `*.backup.db` unless `-d` is given.
`rtabmap-reprocess`	Replays the data of a database through a fresh Rtabmap instance, with different parameters, and writes a new database. Several databases can be merged in one run. The way to try a new configuration on recorded data.
`rtabmap-detectMoreLoopClosures`	Looks for additional loop closures in an existing map, by clustering nodes that are close in the optimized graph, and re-optimizes it.
`rtabmap-globalBundleAdjustment`	Runs a global bundle adjustment over the whole graph and saves the refined poses.
`rtabmap-reduceGraph`	Merges nodes of the same location to shrink the graph, keeping the map usable for localization.
`rtabmap-cleanupLocalGrids`	Clears from the local occupancy grids the space that the assembled global grid shows as empty, so that removed obstacles do not reappear when the map is regenerated.

Recording and datasets

Command	What it does
`rtabmap-console`	Runs loop closure detection without a GUI on a directory of images, a video or a database, and reports the loop closures found. Appearance-only: it forces RGBD/Enabled to false and feeds images without a pose, so there is no odometry, no graph optimization and no metric map – unlike the dataset tools below, which run the whole SLAM pipeline.
`rtabmap-dataRecorder`	Records a live sensor into a database, using a configuration file exported from the GUI preferences.
`rtabmap-kitti_dataset`	Runs a KITTI odometry sequence (stereo, optionally Velodyne) and reports the KITTI errors against ground truth.
`rtabmap-rgbd_dataset`	Same for a TUM RGB-D sequence.
`rtabmap-euroc_dataset`	Same for a EuRoC MAV sequence (stereo and IMU).
`rtabmap-cidsims_dataset`	Same for a CID-SIMS sequence (RGB-D, IMU and wheel odometry).
`rtabmap-imagesJoiner`	Joins images of two directories side by side, to build a stereo sequence out of two monocular ones.

Sensors and calibration

These need the GUI library (Qt), so they are only built when it is available.

Command	What it does
`rtabmap-camera`	Streams a USB camera, a video file or a directory of images, and shows what the driver delivers.
`rtabmap-rgbd_camera`	Same for the RGB-D and stereo drivers (OpenNI, Freenect, RealSense, Kinect for Azure, ZED...), to check a device before mapping with it.
`rtabmap-lidar_viewer`	Shows the scans of a network lidar (VLP-16).
`rtabmap-calibration`	Calibrates a camera or a stereo pair from a chessboard, and saves the model RTAB-Map reads.
`rtabmap-odometryViewer`	Runs Odometry alone on a live sensor and shows the features, the local map and the estimated trajectory. Useful to tune the `Odom/` and `Vis/` parameters.
`rtabmap-databaseViewer`	Inspects a database: browse the nodes and their data, the graph and its links, add or remove constraints, re-optimize, regenerate the grids and export.

Algorithm evaluation

Command	What it does
`rtabmap-matcher`	Registers two images with the visual or ICP pipeline and draws the correspondences. The direct way to compare feature detectors and matching parameters on a hard pair.
`rtabmap-stereoEval`	Evaluates the stereo correspondence parameters against a ground truth disparity map (Middlebury format).
`rtabmap-epipolar_geometry`	Shows the epipolar geometry between two images.
`rtabmap-extractObject`	Extracts an object lying on a plane from a point cloud file.
`rtabmap-vocabularyComparison`	Compares the nearest-neighbour strategies of the visual dictionary on a saved vocabulary. Built only with the OpenCV non-free module.

The GUI application itself is rtabmap; everything the tools above do offline is also reachable from its menus.