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Hi,
by default the topic /rtabmap/cloud_map is voxelized at 5 cm. You can change this by setting cloud_voxel_size to 0.01 for rtabmap node. You may also want to reduce cloud_decimation to 1 (default 4) if you want even more points. See rtabmap_ros page for more info.
For convenience, you can use rtabmap_ros/MapCloud plugin in RVIZ (with /rtabmap/mapData topic) to create the 3D point cloud. You will have directly in RVIZ the voxel/decimation parameters. MapCloud rviz plugin is also more efficient than /rtabmap/cloud_map if you just want to visualize the 3D map.
If you want to save a point cloud to a file (e.g., *pcd or *.ply), you can do it in rtabmapviz after clicking on pause, then File->Export point clouds... You will even have more options to regenerate the point clouds at the resolution you want.
cheers
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