Export clouds or meshes without GUI

[IvanCaminal]

I would like to know if it is possible to export the point cloud or mesh of a database without using the user interface of rtabmap (when the build is done with the option -D WITH_QT = OFF)? If not, how would be the fastest way to achieve it?

Thanks in advance.

[scanboy]

AFAI there is no built-in functionality for offline but if you want to program the Android app has functions for exportMesh that are easier to understand (at least for me) than the QT GUI equivalents.
e.g. look here rtabmap/app/android/jni/RTABMapApp.cpp for exportMesh and writeExportedMesh

[matlabbe]

Hi,

For convenience, I took the example from the android function and made a standalone example (simplified with default parameters), see this commit.

Usage:

//export cloud.ply
$ rtabmap-export test.db

//export mesh.ply
$ rtabmap-export --mesh test.db

//export mesh.obj
$ rtabmap-export --texture test.db

cheers,
Mathieu

[IvanCaminal]

Thanks Mathieu! Just what I needed