ComputeDistance in descriptor matching is never been called?

[glennliu]

Hi

Thanks for your interesting work.

I have questions regarding the ComputeDistance function. If I understand correct, the function compute the similarity beteen the two hybrid descriptor, which is a key step in the top-down loop closure detection introduced in the paper.

Then,

1. I can not find the function compute the similarity between place descirptors. Do you implement it different from the paper?
2. This function seems have never been recalled in the program. I can only find it in its .h and .cpp file. Do you use it in the experiment?

The reason I ask is that I want to evaluate the loop closure detection module separately. So, I can avoid deploying the entire SLAM system and prepare light-weighted data. But I need to know how does the front-end works. Since the key loop closure detection function has not been recalled, I don't what it actually reads from the front-end and how does each descriptor been constructed.

Thanks
Chuhao