Hi Raphael, > Do you recommend any minimal size for the image DB? > I am having trouble (actually runtime errors) while using the clustering > mode. The number of images and the number of extracted SIFT features on average per image are the ones that basically directly influence the parameters tree_k and tree_levels. I unfortunately do not have anything else but a highly intuitive guess that 20 images with 500 SIFT features on average shall go in the database with (tree_k, tree_levels) = (3, 3) or (4, 4). I used (6, 6) for ~150 images with 500 SIFT features. > I will dig in the problem today but do you think there any chance this is > linked to my image DB being too small (around 20 pictures)? > In other words: is it just me? :) The size of the DB shall not give runtime errors. > Finally, do you know a kind of automatized way to import the  germandeli/ > http://www.germandeli.com/  catalogue you advertise on the wiki? So far I've > been manually saving the thumbnails from the website... Yes, we do. Please a have look into germandeli_crawler package, you will find a README.txt which will tell you how to run it. cheers and let me know if you get into more troubles, D. > View this message in context: http://ros-users.122217.n3.nabble.com/Object-recognition-positioning-package-tp2399294p2450387.html > Sent from the ROS-Users mailing list archive at Nabble.com. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- MSc. Dejan Pangercic PhD Student/Researcher Intelligent Autonomous Systems Group Technische Universität München Telephone: +49 (89) 289-26908 E-Mail: dejan.pangercic@cs.tum.edu WWW: http://ias.cs.tum.edu/people/pangercic