diff --git a/cmake_modules/FindUtiLite.cmake b/cmake_modules/FindUtiLite.cmake
index e27ae573..ed7cc5c2 100644
--- a/cmake_modules/FindUtiLite.cmake
+++ b/cmake_modules/FindUtiLite.cmake
@@ -101,10 +101,10 @@ IF(URESOURCEGENERATOR_EXEC)
 	ENDIF(UtiLite_LIBRARIES AND UtiLite_Audio)
 	IF(UtiLite_LIBRARIES AND UtiLite_Cv)
 		SET(UtiLite_LIBRARIES ${UtiLite_LIBRARIES} ${UtiLite_Cv})
-	ENDIF(UtiLite_LIBRARIES AND UtiLite_Audio)
+	ENDIF(UtiLite_LIBRARIES AND UtiLite_Cv)
 	IF(UtiLite_LIBRARIES AND UtiLite_Cvqt)
 		SET(UtiLite_LIBRARIES ${UtiLite_LIBRARIES} ${UtiLite_Cvqt})
-	ENDIF(UtiLite_LIBRARIES AND UtiLite_Audio)
+	ENDIF(UtiLite_LIBRARIES AND UtiLite_Cvqt)
 	
 	IF (UtiLite_INCLUDE_DIRS AND UtiLite_LIBRARIES)
 	   SET(UtiLite_FOUND TRUE)
diff --git a/corelib/include/rtabmap/core/RtabmapEvent.h b/corelib/include/rtabmap/core/RtabmapEvent.h
index 5a58b4fa..66c0f2f5 100644
--- a/corelib/include/rtabmap/core/RtabmapEvent.h
+++ b/corelib/include/rtabmap/core/RtabmapEvent.h
@@ -57,8 +57,6 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Memory, Signatures_removed,);
 	RTABMAP_STATS(Memory, Signatures_retrieved,);
 	RTABMAP_STATS(Memory, Images_buffered,);
-	RTABMAP_STATS(Memory, Similarities_map,);
-	RTABMAP_STATS(Memory, Loop_closures_map,);
 
 	RTABMAP_STATS(Timing, Memory_update, ms);
 	RTABMAP_STATS(Timing, Cleaning_neighbors, ms);
diff --git a/guilib/include/rtabmap/gui/MainWindow.h b/guilib/include/rtabmap/gui/MainWindow.h
index c920b2a9..9026e879 100644
--- a/guilib/include/rtabmap/gui/MainWindow.h
+++ b/guilib/include/rtabmap/gui/MainWindow.h
@@ -90,6 +90,7 @@ private slots:
 	void startDetection();
 	void pauseDetection();
 	void stopDetection();
+	void printLoopClosureIds();
 	void generateMap();
 	void generateLocalMap();
 	void deleteMemory();
@@ -175,6 +176,9 @@ private:
 
 	QString _graphSavingFileName;
 	QString _autoScreenCaptureFormat;
+
+	QVector<int> _refIds;
+	QVector<int> _loopClosureIds;
 };
 
 }
diff --git a/guilib/src/ConsoleWidget.h b/guilib/src/ConsoleWidget.h
index 78f0f947..4c9d8e7b 100644
--- a/guilib/src/ConsoleWidget.h
+++ b/guilib/src/ConsoleWidget.h
@@ -41,7 +41,7 @@ public:
 	virtual ~ConsoleWidget();
 
 public slots:
-	void appendMsg(const QString & msg, int level);
+	void appendMsg(const QString & msg, int level = 1);
 
 signals:
 	void msgReceived(const QString &, int);
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 2d2246cf..532c0904 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -189,6 +189,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
 	connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
 	connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
+	connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
 	connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateMap()));
 	connect(_ui->actionGenerate_local_map, SIGNAL(triggered()), this, SLOT(generateLocalMap()));
 	connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
@@ -492,6 +493,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 
 		int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
 		float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
+		int matchId = 0;
 		if(highestHypothesisId > 0)
 		{
 			bool show = true;
@@ -504,6 +506,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 					_ui->label_stats_loopClosuresReactivatedDetected->setText(QString::number(_ui->label_stats_loopClosuresReactivatedDetected->text().toInt() + 1));
 				}
 				_ui->label_matchId->setText(QString("Match ID = %1").arg(stat.loopClosureId()));
+				matchId = stat.loopClosureId();
 			}
 			else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
 			{
@@ -547,6 +550,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				}
 			}
 		}
+		_refIds.push_back(stat.refImageId());
+		_loopClosureIds.push_back(matchId);
 
 		if(_ui->imageView_loopClosure->items().size() || stat.loopClosureId()>0)
 		{
@@ -1222,6 +1227,25 @@ void MainWindow::stopDetection()
 	}
 }
 
+void MainWindow::printLoopClosureIds()
+{
+	_ui->dockWidget_console->show();
+	QString msgRef;
+	QString msgLoop;
+	for(int i = 0; i<_refIds.size(); ++i)
+	{
+		msgRef.append(QString::number(_refIds[i]));
+		msgLoop.append(QString::number(_loopClosureIds[i]));
+		if(i < _refIds.size() - 1)
+		{
+			msgRef.append(" ");
+			msgLoop.append(" ");
+		}
+	}
+	_ui->widget_console->appendMsg(QString("IDs = [%1];").arg(msgRef));
+	_ui->widget_console->appendMsg(QString("LoopIDs = [%1];").arg(msgLoop));
+}
+
 void MainWindow::generateMap()
 {
 	if(_graphSavingFileName.isEmpty())
@@ -1395,6 +1419,8 @@ void MainWindow::clearTheCache()
 	_ui->label_stats_loopClosuresDetected->setText("0");
 	_ui->label_stats_loopClosuresReactivatedDetected->setText("0");
 	_ui->label_stats_loopClosuresRejected->setText("0");
+	_refIds.clear();
+	_loopClosureIds.clear();
 }
 
 void MainWindow::updateElapsedTime()
diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui
index 5ca1c238..e6e674c0 100644
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -102,7 +102,7 @@
      <x>0</x>
      <y>0</y>
      <width>1056</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -137,6 +137,7 @@
     <addaction name="separator"/>
     <addaction name="actionDump_the_memory"/>
     <addaction name="actionDump_the_prediction_matrix"/>
+    <addaction name="actionPrint_loop_closure_IDs_to_console"/>
     <addaction name="actionGenerate_map"/>
     <addaction name="actionGenerate_local_map"/>
     <addaction name="actionReset_the_memory"/>
@@ -510,7 +511,7 @@
       <number>0</number>
      </property>
      <item>
-      <widget class="rtabmap::ConsoleWidget" name="widget" native="true"/>
+      <widget class="rtabmap::ConsoleWidget" name="widget_console" native="true"/>
      </item>
     </layout>
    </widget>
@@ -751,6 +752,11 @@
     <string>Generate local map...</string>
    </property>
   </action>
+  <action name="actionPrint_loop_closure_IDs_to_console">
+   <property name="text">
+    <string>Print loop closure IDs to console</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>