Spatial Mapping organized Point Cloud

Hello everyone,
I am new, so I hope I am doing everything correctly. I saw on the GitHub repo this example of integration with PCL: GitHub - stereolabs/zed-pcl: ZED SDK interface sample for PCL, the Point Cloud Library
Specifically it illustrates how to import a pointcloud from the depth view of ZEDs and, if I understand correctly, sets its size (then saves it as an organized point cloud).

I wanted to ask if it would be possible to do the same when building a map of a space, as you would do for example via ZEDfu.

Thank u very much

Hi @alex22
you can use the spatial mapping example to generate a fused point cloud and convert it to PCL: