3D Reconstruction using RTAB Map with Intel RealSense D435 RGB D Camera · jacobmoroni/robotic_vision Wiki

The point cloud that shows up in the RTAB-Map GUI will still have random points floating from noise in the data as it built the map and if it temporarily saw through a doorway or hallway that you didn’t explore further. One last step that I found to be very helpful was to display the point cloud by clicking “Edit>View Point Clouds..”

Source: 3D Reconstruction using RTAB Map with Intel RealSense D435 RGB D Camera · jacobmoroni/robotic_vision Wiki