Re: How to call rtabmap_ros function from rviz

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-call-rtabmap-ros-function-from-rviz-tp5900p5918.html

Hi,

You can use pcl_ros to save point clouds to PCD file, then use pcl tools to convert to file in format you want:

$ rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map
$ pcl_pcd2ply input.pcd output.ply

If you want to regenerate the cloud in different density, there is no easy workaround out of "File->Export 3D clouds..." of rtabmapviz.

There is a simple c++ example here on how to export the point cloud from a database file to PLY, but there are not as many options than with the UI approach.

$ ~/rtabmap/bin/rtabmap-export rtabmap.db

cheers,
Mathieu