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-tp10862p10900.html

Hi,

In rtabmap_msgs/Info msgs, there are fields statsKeys and statsValues. It is a map<string, float> for plenty of statistics. Assuming you combined the dictionary statsKeys with statsValues and called it stats, you can get the loop closure probability with stats["Loop/Highest_hypothesis_value/"].

If you use rtabmap_viz, you can see the same statistics live under Statistics panel.

To get data of the loop closure, you may call ros service /rtabmap/get_node_data.

cheers,
Mathieu