Is user_data used in mapping or loop closure detection?

Posted by MWrock on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Is-user-data-used-in-mapping-or-loop-closure-detection-tp6354.html

I was looking through the code and examples, but it wasn't apparent if the user_data_async (or user_data) topics are actually used in loop closure detection and mapping or just displayed ad visualisations in RVIZ. Hopefully someone can shed some light on the situation