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Is it possible to convert mesh or point cloud to grid map?

I'd like to convert mesh or point cloud to occupancy grid map. I get mesh and point cloud data from ZED because 3D SLAM by ZED API is great and the API supports to save 3D SLAM result as mesh and cloud data.

I know that there are some 3D SLAM packages like rtabmap and so on. But in my experience, 3D SLAM by ZED API is better. If you know whether it is possible to convert mesh or point cloud to grid map, could you tell me how to do so?

Is it possible to convert mesh or point cloud to grid map?

I'd like to convert mesh or point cloud to occupancy grid map. map like gmapping result. I get mesh and point cloud data from ZED because 3D SLAM by ZED API is great and the API supports to save 3D SLAM result as mesh and cloud data.

I know that there are some 3D SLAM packages like rtabmap and so on. But in my experience, 3D SLAM by ZED API is better. If you know whether it is possible to convert mesh or point cloud to grid map, could you tell me how to do so?