From c2a5b7c9ff113d24443cc8c1bdabba1b89bd7919 Mon Sep 17 00:00:00 2001 From: xuhao3e8 Date: Wed, 11 Dec 2024 12:57:58 +0800 Subject: [PATCH] Remove unuse param --- README.md | 2 -- config/GRACO/GRACO_multi.yaml | 3 --- config/GRACO/GRACO_single.yaml | 3 --- config/GRACO/GRACO_single_gnd.yaml | 3 --- config/NTU_VIRAL/NTU_VIRAL_multi.yaml | 3 --- config/NTU_VIRAL/NTU_VIRAL_single.yaml | 3 --- config/gopro/gopro.yaml | 3 --- config/quadcam/quadcam_multi.yaml | 3 --- config/quadcam/quadcam_multi_rt.yaml | 3 --- config/quadcam/quadcam_single.yaml | 3 --- config/quadcam_drone_nxt_tmp/quadcam_single.yaml | 4 ---- config/realsense_d435/d435_multi.yaml | 3 --- config/realsense_d435/d435_multi_rt.yaml | 3 --- config/realsense_d435/d435_single.yaml | 3 --- config/tum/tum_multi.yaml | 3 --- config/tum/tum_single.yaml | 3 --- config/visensor_f9p/visensor_f9p.yaml | 3 --- 17 files changed, 51 deletions(-) diff --git a/README.md b/README.md index 219503c..7312e33 100644 --- 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 index d8167aa..85fded4 100644 --- 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 index 91d9a23..4b71984 100644 --- 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 index 6ee353b..c14d22c 100644 --- 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 index abe7bf2..ce82601 100644 --- 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 index 858d0a0..1f7a1e5 100644 --- 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 index 21f99d6..ee50369 100644 --- 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 index 742c0a5..f484598 100644 --- 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 index 0ea7ae6..b02a796 100644 --- 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 index 0f7a3f8..1737afc 100644 --- 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 index 52d437b..c27b56c 100644 --- 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 index d5a4eaf..446d147 100644 --- 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 index 8e9a024..c3d3c19 100644 --- 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 index 96cd5cb..e674ad0 100644 --- 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 index 7919d64..ea95ed4 100644 --- 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 index 77e69c1..66edf97 100644 --- 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 index 2640713..757fd1a 100644 --- 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