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With some coding, you could add these informations in user data field of the nodes. For example, if you set the userDataRaw variable here (cv::Mat myData = ....; data.setUserDataRaw(myData)), it will be saved in the database and sent in output mapData topic. The mapData topic contains the corrected graph and data of the latest node added to map (including your userData, the compressed user data).

Note that user data cannot be used for loop closure detection. To do so, it would require a deep change of the rtabmap library.

cheers