Examples for perfomance of kidnapped_robot stack [closed]

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Hello

I'm working on improving the RGBD-SLAM by finding loops in the pose-graph. I'm currently evaluating the vocab_tree with the Calonder-Descriptors to get potentially matching image-pairs which can then be compared.

Since I took some code from the kidnapped_robot stack I'm not sure if I'm using it correctly. So I'd like to know if there is some kind of testing data available. I imagine a set of images (some hundred) together with the pairs of image_ids the tree would generate.

Nikolas