Reverse node lookup

[MotorTrick]

Hey, I am wondering. Can I, given a 3D location, know which nodes contributed to that location/viewed that location?

[matlabbe]

Do you mean by clicking a point in the point cloud of the map? We cannot, as the point cloud will be mostly downsampled, losing that kind of info in the process. However when using rtabmap-export with --cam_projection option, we can attribute the node index that colored a point with the camera.