Re: Monitoring Localization/Loop Closure Detection

Posted by Kameel Amareen on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Monitoring-Localization-Loop-Closure-Detection-tp10862p10879.html

Thank you for your kind reply !

I would like to have a confidence score for the LC detection, how can one already extract the one calculated from RTABmap (the Bayesian filter probability if I am not mistaken) ?

And is there a method to extract all/any of:
1) Visual Features
2) RGB Image
3) Depth Image/Point Cloud

Of the Keyframe with which a loop closure detection was detected ? And if not readily available, any hints on how it can be exposed ?

Thanking you in advance and wishing you all the best