Remote mapping no graphics card

[jasonz]

Hi Sir, As the following http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping.I have acheieved RemoteMapping between the two laptop successfully.But I want to make use of remote servicer that no graphics card as the client computer to achieve 3d point cloud image.Because of no graphics card,I cant use rviz or rtabmapviz to build and save and check the 3d point cloud image.So are there commands or other methods to do this? Thanks.

[matlabbe]

Hi,

You can use pcl_ros/pointcloud_to_pcd node to save /rtabmap/cloud_map topic:

$ rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map

To visualize the PCD file:

$ pcl_viewer cloud.pcd

 
You can also convert the PCD to PLY:

$ pcl_pcd2ply input.pcd output.ply

Note that you can always open the saved database (~/.ros/rtabmap.db) in RTAB-Map to regenerate the point cloud and export it using the GUI.

cheers

[jasonz]

Thanks for your help.
In rgbd_mapping.launch,I set  
<arg name="rviz"                    default="false" />
<arg name="rtabmapviz"              default="false" /> 
then as you said,I $ rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map
but when i run $ pcl_viewer cloud.pcd, the error occur:[pcl::PCDReader::readHeader] Could not find file 'cloud.pcd'. I tried $sudo find / -name *.pcd -print,  still no result.