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