How to extend RTAB-Map Database information

Posted by cpsarras on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-extend-RTAB-Map-Database-information-tp3286.html

Hello Mathieu,

I would like to extend RTAB-Map functionality to store additional information in every node that is registered to the database. For example, I want to include a boolean variable, indicating whether my robot received a message or not between two consecutive nodes. I want to add this information when a new node is created and added to the database. Also, I would like to be able to traverse the database while RTAB-Map is running, to extract and post-process this information.

Could you point me to the appropriate .cpp files I should edit to append the information to the new node? (and the .cpp files that create the database schema probably)
Also, what .cpp files traverse the database, so I can get an idea on how to do this?

Thank you,
Chris