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IOS "append" function #1303
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The "append" mode is implicitly handled with the loop closure detector and by setting rtabmap/corelib/src/Rtabmap.cpp Lines 2123 to 2125 in 1ab0133
Computation of the loop closure constraint happens here: rtabmap/corelib/src/Rtabmap.cpp Lines 3007 to 3025 in 1ab0133
If a constraint is found, rtabmap will start to appends new data to the database, otherwise the new image is discarded: rtabmap/corelib/src/Rtabmap.cpp Lines 4243 to 4253 in 1ab0133
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I understand that the IOS rtabmap uses loop detection to realize the "append" function. I want to play around with the "append" function and integrate new features into it. However, I am kind of confused about which file and which code chunk specifically implements this. Any suggestions?
Thanks!
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