Export globally optimized occupancy grid map

[rdds]

Hello!

Currently I am using rtabmap-export to generate the poses.txt and cloud of a scanned environment. I would like to know if I could also export the occupancy grid without using the ros map_saver node. I know I can also generate the map using the rtabmap database viewer, but I want to generate all the 4 files (poses, cloud, occupancy grid pgm and yaml) together using a single command and the same optimization of the map trajectories.

[matlabbe]

Hi,

Thanks for the comment. I added a new option in this commit to rtabmap-export to export the occupancy grid in same format than ros map_saver. You may now do:

rtabmap-export --poses --cloud --map rtabmap.db

to get the four files you want, all synced using the same poses.

[rdds]

Thank you very much, I will try it out!