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Lk default FAST feature to enhance performance.
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xuhao3e8 committed Nov 30, 2024
1 parent d08c6d3 commit 91ce921
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Showing 4 changed files with 4 additions and 41 deletions.
3 changes: 3 additions & 0 deletions .vscode/settings.json
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@@ -0,0 +1,3 @@
{
"cmake.sourceDirectory": "/home/xuhao/swarm_ws/src/D2SLAM/d2vins"
}
1 change: 0 additions & 1 deletion config/realsense_d435/d435_multi_rt.yaml
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Expand Up @@ -105,7 +105,6 @@ max_solve_cnt: 100
show_track_id: 0
check_essential: 0
enable_lk_optical_flow: 1 #enable lk opticalflow featuretrack to enhance ego-motion estimation.
lk_use_fast: 1
remote_min_match_num: 40
ransacReprojThreshold: 5.0
parallex_thres: 0.012
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1 change: 0 additions & 1 deletion d2frontend/src/d2frontend_params.cpp
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Expand Up @@ -151,7 +151,6 @@ D2FrontendParams::D2FrontendParams(ros::NodeHandle& nh) {
ftconfig->long_track_frames = fsSettings["landmark_estimate_tracks"];
ftconfig->check_essential = (int)fsSettings["check_essential"];
ftconfig->enable_lk_optical_flow = (int)fsSettings["enable_lk_optical_flow"];
// ftconfig->lk_use_fast = (int)fsSettings["lk_use_fast"];
ftconfig->remote_min_match_num = fsSettings["remote_min_match_num"];
ftconfig->double_counting_common_feature =
(int)fsSettings["double_counting_common_feature"];
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40 changes: 1 addition & 39 deletions d2slam.code-workspace
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@@ -1,25 +1,5 @@
{
"folders": [
{
"name": "d2vins",
"path": "d2vins"
},
{
"name": "d2frontend",
"path": "d2frontend"
},
{
"name": "d2common",
"path": "d2common"
},
{
"name": "d2pgo",
"path": "d2pgo"
},
{
"name": "d2comm",
"path": "d2comm"
},
{
"name": "D2SLAM",
"path": "."
Expand All @@ -29,25 +9,7 @@
"path": "../sync_bag_player"
},
{
"name": "data",
"path": "../../../data"
},
{
"path": "../../../Swarm_Docker"
},
{
"path": "../../../SwarmConfig"
},
{
"path": "../swarm_pilot"
},
{
"path": "../swarmtal_control"
},
{
"path": "../swarm_msgs"
},
{
"name": "quadcam_depth_est",
"path": "quadcam_depth_est"
}
],
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