From 91ce9215d3bfcb1ac463d67fecf7381ce1699d47 Mon Sep 17 00:00:00 2001
From: xuhao3e8 <xuhao3e8@buaa.edu.cn>
Date: Sat, 30 Nov 2024 15:46:28 +0000
Subject: [PATCH] Lk default FAST feature to enhance performance.

---
 .vscode/settings.json                    |  3 ++
 config/realsense_d435/d435_multi_rt.yaml |  1 -
 d2frontend/src/d2frontend_params.cpp     |  1 -
 d2slam.code-workspace                    | 40 +-----------------------
 4 files changed, 4 insertions(+), 41 deletions(-)
 create mode 100644 .vscode/settings.json

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..4119847
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "/home/xuhao/swarm_ws/src/D2SLAM/d2vins"
+}
\ No newline at end of file
diff --git a/config/realsense_d435/d435_multi_rt.yaml b/config/realsense_d435/d435_multi_rt.yaml
index f2fea77..8e9a024 100644
--- a/config/realsense_d435/d435_multi_rt.yaml
+++ b/config/realsense_d435/d435_multi_rt.yaml
@@ -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
diff --git a/d2frontend/src/d2frontend_params.cpp b/d2frontend/src/d2frontend_params.cpp
index a742357..18e698f 100644
--- a/d2frontend/src/d2frontend_params.cpp
+++ b/d2frontend/src/d2frontend_params.cpp
@@ -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"];
diff --git a/d2slam.code-workspace b/d2slam.code-workspace
index 2fd0f77..9a27609 100644
--- a/d2slam.code-workspace
+++ b/d2slam.code-workspace
@@ -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": "."
@@ -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"
 		}
 	],