RGB2D Map using gmapping

edit

Hi all,

I am trying to add colour information in 2d occupancy map gmapping produce. My question is, more general, to achieve that out put where i should be looking in slam_gampping code?

Thanks in advance.

P.S My laser range finder and camera are already calibrated and i can represent any laser scan in camera pixel and extract its colour. The desired output should be colour map incorporated with the colour camera sees at that position instead of black and white map.