After Loop Closure Point Cloud Resolution

[nyinyinyanlin]

I was able to close a loop but it seems after loop closure point cloud was not dense enough. Too much details were lost in pc_aft_loop_closure and if I zoom into the point cloud, features visible in raw point clouds cannot be found in after loop closure point cloud.

I have noticed points in pc_aft_loop_closure are arranged in a cube grid resolution. Is it possible to increase the density of the point cloud?

Thank you very much.