Simultaneous 3D RGBD and 2D Lidar Mapping

[Krishnakanth]

Dear RTAB team,
I have a robot with onboard RGBD camera and 2D lidar, how can I map the environment with both RGBD camera and 2D Lidar registrations in the same mapping session and save the two differently registered maps ie one from RGBD camera and one from 2D Lidar seperately.

[matlabbe]

Can this be done offline? If so, it is possible to regenerate the local occupancy grids in rtabmap-databaseViewer (see Edit menu). To switch between lidar and rgb-d maps, you would need to change the parameter Sensor under Core Parameters view -> Grid panel, between 0 (lidar) and 1 (rgb-d), then click on Edit->Regenerate all occupancy grids afterwards.

If you just want to export the corrresponding point clouds, do File->Export 3D clouds and check/uncheck "From RGB-D images..." to export lidar or rgb-d data.