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ROS Bag File Point Cloud

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Is their a way to open a .bag file in a application such as cloud compare, or mesh lab? I am using a Kinect camera for mapping and I want to be able to view the 3d point cloud map created. Thank you for your help. P.S sorry for bad english. Also, how do I capture one frame of a ros bag. I just one to store one frame of a point cloud scene from rviz.

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