Is it possible to export dense points

[CharlieV5]

Is your feature request related to a problem? Please describe.
None

Describe the solution you'd like
Is it possible to save every lidar frame rather than key frame, so that in the offline_viewer we can export dense point cloud to evaluate the quality of map?

Describe alternatives you've considered
If possilble, can every lidar frame pose be optimized in the global optimization ? Maybe in this case the number of poses would be huge, but we can see how the algorithm performs.
Additional context
None

[skohlbr]

Haven't looked deeper into this, but the keep_raw_points option sounds like it might at least keep the data you're interested in.

glim/config/config_ros.json

Line 9 in 2e95b84

// keep_raw_points : Keep raw points in the map (required for only extension modules)