Re: Detect relocalization when reusing database

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Detect-relocalization-when-reusing-database-tp3602p3618.html

Hi,

It is unlikely that map->odom is still exactly Identity transform after a relocalization unless we are in a simulated environment with perfect sensor readings or map optimization is done from the end of the graph (RGBD/OptimizeFromGraphEnd=true). You can know when a relocalization happens with rtabmap_ros/Info message if loopClosureId field is non zero:

$ rostopic echo /rtabmap/info/loopClosureId
0
---
0
---
0
---
14     <---- relocalization
---

cheers,
Mathieu