ICP-SLAM simplemap file generated looks different to what is rendered

Hi,

Im using the ICP-SLAM app with my own observations and actions. Im adding a rangescan vector observations into a CSensoryFrame every time. Im also adding my own incremental movement of the robot and using these as the actions. Building the map is working just fine - the map is rendered correctly. The problem occurs in exporting the map. It is exported as a CSimpleMap. When I open it as a simplemap using any other app in mrpt (e.g. pf-localization) and visualize it, it looks like multiple copies of the first rangescan occupancy grid are copied over each other with a slight translation each time.

In summary ICP-SLAM's rendering and hence building of the map is working perfectly but when I try to open the generated simplemap using pf-localization it shows a very different map. It shows a recurring occupancy grid generated from the first rangescan only.

I wonder if anyone has seen this issue before and would slide me some help.

Thanks