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Hi, this isn't possible with RGBDSLAM at the moment (and I currently have no plans to add this feature). To implement this, in addition to the point cloud, you would also need to store the belonging feature descriptors and their 2d/3d locations. Further the graph would need to be saved (there is a function for that in hogman/g2o).
So in fact, one would need to implent saving and restoring of the Node class.
While the principle is easy, this would be a lot of programming work, and since I don't have time for it, I guess it will not be done. Anyone willing to volunteer is welcome to contact me for details.
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