Export all points from a database even not colourized ones

[wonwon0]

I am generating a cloud reconstruction and colourizing the points with RGB images. Sometimes we loose some of the images due to communication errors. I would like to be able to export the colourized point cloud that also contains the not colourized points from the patches where we happened to lose communication with our camera rig.

Is it possible using your rtabmap-export tool?

Thank you

[matlabbe]

We would have to move this: https://github.com/introlab/rtabmap/blob/ae92ec40d74abde8925a6d047c281062319e430a/tools/Export/main.cpp#L1063-L1065 just after this brace: https://github.com/introlab/rtabmap/blob/ae92ec40d74abde8925a6d047c281062319e430a/tools/Export/main.cpp#L1066

Ideally, adding another option to do that, for case we would only want to keep points seen by cameras.