ogm2pgbm package

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Hi guys! I have started to check ogm2pgbm package, when I try to use its gmcl + slam toolbox combination I saw this line If I understand right, the code checks only covariance of the pose data and if it exceeds 5 just pass to slam toolbox only? Is that the only process of using them together? When I read readme I thought it was combining them to correct each other, but in the code just passing from gmcl to slam toolbox only with a condition? Am I right or is there anywhere that I missed?