How to acquire a dense map instead of feature map?

[PrePLEX23]

What a wonderful job, Dr. Jiao. Thank for your work's contribution.
However, I am researching M-LOAM. The issue I meeting is that when I use the "mloam_handheld.launch" to run mloam with my custom dataset. When the bag finishs, I just find the pcd files of features and pose in /tmp, which are to sparse to evaluate the results.
Sincerely, how can I get a dense map and tum format trajectory?
Thanks!

[gogojjh]

Hi,
Map: This is because the output map is downsample into a fixed resolution. For your case, you can change the resolution of the voxel filter and output a denser map.
TUN format: you can use this function to store the trajectory:

M-LOAM/estimator/src/save_statistics.hpp

Line 139 in ff77e35

void SaveStatistics::saveMapStatistics(const string &map_filename,