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Generating 3D Map from PointCloud Data

I have generated PointClouda Data from a rosbag file using NDT. Now I want to generate a 3D map from this point cloud data and save that generated map also wanted to generate Vector mapping. Can anyone suggest to me how I can do this? I have tried SLAM, LOAM approach to generate 3D map but I am not satisfied with the mapping and i also wanted to try cartographer, but I wanted to know how I can save that map so that I can use that saved map in the Gazebo simulation.