Remove unuse param

HKUST-Aerial-Robotics · Dec 11, 2024 · c2a5b7c · c2a5b7c
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commit c2a5b7c
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diff --git a/README.md b/README.md
@@ -117,8 +117,6 @@ max_sld_win_size: 11 # This parameter specifies the maximum length of the slidin
 landmark_estimate_tracks: 4 # This parameter specifies the threshold for the number of measurements of a landmark to be used for estimation in D2SLAM.
 min_solve_frames: 6 # This parameter specifies the number of keyframes in the sliding window to start the estimation process in D2SLAM.
 
-#solver
-multiple_thread: 1 #  This parameter specifies whether to use multiple threads in the Ceres solver in D2VINS.
 
 #outlier rejection
 thres_outlier : 10.0 # This parameter specifies the threshold to enable outlier detection in D2SLAM.

diff --git a/config/GRACO/GRACO_multi.yaml b/config/GRACO/GRACO_multi.yaml
@@ -61,9 +61,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 5
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 10

diff --git a/config/GRACO/GRACO_single.yaml b/config/GRACO/GRACO_single.yaml
@@ -61,9 +61,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 5
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 10

diff --git a/config/GRACO/GRACO_single_gnd.yaml b/config/GRACO/GRACO_single_gnd.yaml
@@ -61,9 +61,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 10
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 100

diff --git a/config/NTU_VIRAL/NTU_VIRAL_multi.yaml b/config/NTU_VIRAL/NTU_VIRAL_multi.yaml
@@ -82,9 +82,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 9
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 10

diff --git a/config/NTU_VIRAL/NTU_VIRAL_single.yaml b/config/NTU_VIRAL/NTU_VIRAL_single.yaml
@@ -82,9 +82,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 9
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 10

diff --git a/config/gopro/gopro.yaml b/config/gopro/gopro.yaml
@@ -71,9 +71,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 30

diff --git a/config/quadcam/quadcam_multi.yaml b/config/quadcam/quadcam_multi.yaml
@@ -65,9 +65,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 100

diff --git a/config/quadcam/quadcam_multi_rt.yaml b/config/quadcam/quadcam_multi_rt.yaml
@@ -65,9 +65,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 100

diff --git a/config/quadcam/quadcam_single.yaml b/config/quadcam/quadcam_single.yaml
@@ -63,9 +63,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 10000

diff --git a/config/quadcam_drone_nxt_tmp/quadcam_single.yaml b/config/quadcam_drone_nxt_tmp/quadcam_single.yaml
@@ -40,7 +40,6 @@ estimate_td: 1                     # online estimate time offset between camera
 td: -0.05                           # For new datasets with filter
 estimation_mode: 0
 double_counting_common_feature: 0
-min_inv_dep: 0.01 #100 meter away.
 
 #optimization parameters
 max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time 0.04 normal running
@@ -75,9 +74,6 @@ max_sld_win_size: 10
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 4
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 10000

diff --git a/config/realsense_d435/d435_multi.yaml b/config/realsense_d435/d435_multi.yaml
@@ -81,9 +81,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 5
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 100000

diff --git a/config/realsense_d435/d435_multi_rt.yaml b/config/realsense_d435/d435_multi_rt.yaml
@@ -80,9 +80,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 3 #when use depth or stereo, 3 is OK.
 min_solve_frames: 8
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 50.0
 perform_outlier_rejection_num: 50

diff --git a/config/realsense_d435/d435_single.yaml b/config/realsense_d435/d435_single.yaml
@@ -82,9 +82,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 100000

diff --git a/config/tum/tum_multi.yaml b/config/tum/tum_multi.yaml
@@ -77,9 +77,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 100

diff --git a/config/tum/tum_single.yaml b/config/tum/tum_single.yaml
@@ -77,9 +77,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 100000

diff --git a/config/visensor_f9p/visensor_f9p.yaml b/config/visensor_f9p/visensor_f9p.yaml
@@ -71,9 +71,6 @@ max_sld_win_size: 11
 landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
 min_solve_frames: 6
 
-#solver
-multiple_thread: 1
-
 #outlier rejection
 thres_outlier : 10.0
 perform_outlier_rejection_num: 30