Is there a loop closure detection in the example "Cplusplus RGBD Mapping loopclosure"?

[bruce_che]

Hi just as the subject, Is there a loop closure detection in the example "Cplusplus RGBD Mapping loopclosure"? If not, how could i add it? Like the "C++ usage example for appearance-based loop closure detection only"? Thanks in advance

[matlabbe]

Look at this page https://github.com/introlab/rtabmap/wiki/Cplusplus-Loop-Closure-Detection, is it what you are searching for?