Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p1698.html

Hi,

Online:
1- you can save /cloud_map topic using pointcloud_to_pcd node. You will get a PCD file that can be opened with pcl_viewer (installed with PCL). The pcl_pcd2ply tool can be used to convert PCD to PLY so that it can be opened in any 3D software (like MeshLab).
2- If you have rtabmapviz opened, you can pause and do File->Export point clouds... You can export in PCD or PLY directly (default PLY).

Offline:
1- Open the database in rtabmap standalone: "$ rtabmap ~/.ros/rtabmap.db", then make sure you refreshed the map and do File->Export point clouds...

cheers