Is 3D-reconstruction available on a newly relocalized ADF?

[LudwikJaniuk]

After I relocalize an ADF of an area I've previously scanned, could I then run extractMesh and get a good mesh from it? Or would it just be empty, since I haven't scanned anything yet in that session?

I'm trying to generate sort of a navigation grid for the area, and given how much drifting can occur in one session, I'd prefer to scan it all first and only then generate it. However, I'm relying on the 3D-mesh from your 3D-recontruction (currently I'm using the one created by DynamicMesh).

[LudwikJaniuk]

Alternatively, if I re-extracted the mesh right before saving using extractMesh, would that give me a mesh that has been corrected by loop closure events, et.c.?