Official RTAB-Map Forum - Re: Monitoring Localization/Loop Closure Detection

Re: Monitoring Localization/Loop Closure Detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Monitoring-Localization-Loop-Closure-Detection-tp10862p10873.html

In rtabmap_msgs/Info (/rtabmap/info) msg, you can see these fields:

int32 loopClosureId
int32 proximityDetectionId
int32 landmarkId

geometry_msgs/Transform loopClosureTransform

"loopClosureTransform" would be not null (quaternion won't be all zeros) if a re-localization happened. You can also check for "loopClosureId!=0 OR proximityDetectionId!=0 OR landmarkId!=0".