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RGBDSLAM map recording

asked 2013-08-01 23:16:09 -0600

BenMa gravatar image

updated 2014-01-28 17:17:31 -0600

ngrennan gravatar image

Hi, All,

I am able to run rgbdslam (with openni camera) on fuerte. My question is how can I save the 3d map (as a video?) that is been built. I thought about using rosbag to record all published topics, but how can I visualize the 3D map? I know I can visualize octomap related topics in rviz, what about the 3D map with the image overlay (the map on the rgbdslam GUI)? Thanks a lot for the help.

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answered 2013-08-12 06:25:41 -0600

Do I understand correctly that you would like a video of the incremental creation of the point cloud map?

I once tried to extend rgbdslam's gui class to store screenshots of the 3D visualization to disk, but unfortunately it didn't work out.

You can run recordmydesktop (or gtk-recordMyDesktop) to capture the rgbdslam window, but that's probably rather slow.

Otherwise, you could save the clouds to pcd files (from rgbdslam) and then manipulate the files with a script, using pcd_viewer to display and save a snapshot of each state.

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Asked: 2013-08-01 23:16:09 -0600

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Last updated: Aug 12 '13