Rtabmap and 3d point cloud construction

I had a few chats with matlabbe from rtabmap about my use case (creating a 3d point cloud of indoor environment, for measurements and then eventually to further process in meshes and bim). He suggested not to use rtabmap with ros, as my application is not with a robot, but instead test this Releases · introlab/rtabmap · GitHub
I realised that the 3d map is not precise and quite blended, with loop closures not properly detected. Any recommendation on how to improve it?

Hi @guyver30
Can you provide an example of a result that you obtained in order to better understand your problem?