From 81d155a0dde7cee9bbb6f79cc1910b42c8732a45 Mon Sep 17 00:00:00 2001
From: Zichao Zhang <zhangzichao17@gmail.com>
Date: Wed, 9 Nov 2016 18:00:56 +0100
Subject: [PATCH] remove unused

---
 svo_ros/launch/live.launch        | 24 ------------------
 svo_ros/param/camera_atan.yaml    | 25 -------------------
 svo_ros/param/camera_cern_vi.yaml | 41 -------------------------------
 svo_ros/param/camera_pinhole.yaml | 11 ---------
 svo_ros/param/vo_accurate.yaml    |  4 ---
 svo_ros/param/vo_fast.yaml        |  4 ---
 6 files changed, 109 deletions(-)
 delete mode 100644 svo_ros/launch/live.launch
 delete mode 100644 svo_ros/param/camera_atan.yaml
 delete mode 100644 svo_ros/param/camera_cern_vi.yaml
 delete mode 100644 svo_ros/param/camera_pinhole.yaml
 delete mode 100644 svo_ros/param/vo_accurate.yaml
 delete mode 100644 svo_ros/param/vo_fast.yaml

diff --git a/svo_ros/launch/live.launch b/svo_ros/launch/live.launch
deleted file mode 100644
index 92b98b1..0000000
--- a/svo_ros/launch/live.launch
+++ /dev/null
@@ -1,24 +0,0 @@
-<launch>
-    <arg name="cam0_topic" default="/camera/image_raw" />
-    <arg name="calib_file" />
-
-    <node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" args="--alsologtostderr --v=40" output="screen" launch-prefix="gdb -ex run --args">
-    
-        <!-- Camera topic to subscribe to -->
-        <param name="cam0_topic" value="$(arg cam0_topic)" type="str" />
-        
-        <!-- Camera calibration file -->
-        <param name="calib_file" value="$(arg calib_file)" />
-
-        <!-- Additional parameters -->
-        <param name="T_world_imuinit/qx" value="1" />
-        <param name="T_world_imuinit/qy" value="0" />
-        <param name="T_world_imuinit/qz" value="0" />
-        <param name="T_world_imuinit/qw" value="0" />
-
-        <!-- Dense Input -->
-        <param name="publish_every_nth_dense_input" value="5" />
-        <param name="publish_marker_scale" value="0.5" />
-    </node>
-        
-</launch>
diff --git a/svo_ros/param/camera_atan.yaml b/svo_ros/param/camera_atan.yaml
deleted file mode 100644
index c688589..0000000
--- a/svo_ros/param/camera_atan.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-cameras:
-- camera:
-    distortion:
-      parameters:
-        cols: 1
-        rows: 1
-        data: [0.9320]
-      type: fisheye
-    image_height: 480
-    image_width: 752
-    intrinsics:
-      cols: 1
-      rows: 4
-      data: [383.013152, 382.39248, 344.7056, 244.32688]
-    label: cam
-    line-delay-nanoseconds: 0
-    type: pinhole
-  T_B_C:
-    cols: 4
-    rows: 4
-    data: [1, 0, 0, 0,
-           0, 1, 0, 0,
-           0, 0, 1, 0,
-           0, 0, 0, 0]
-label: test_camera
\ No newline at end of file
diff --git a/svo_ros/param/camera_cern_vi.yaml b/svo_ros/param/camera_cern_vi.yaml
deleted file mode 100644
index 81c6c43..0000000
--- a/svo_ros/param/camera_cern_vi.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-cam0:
-  cam_model: Pinhole
-  cam_width: 752
-  cam_height: 480
-  cam_fx: 472.61141190209776
-  cam_fy: 471.22321636065936
-  cam_cx: 374.3294960990277
-  cam_cy: 243.48231986069422
-  cam_d0: -0.3003694372669555
-  cam_d1: 0.09176773747293532
-  cam_d2: -0.0003923505612523971
-  cam_d3: 0.0006943797210933074
-  T_cam_imu:
-    tx: 0.035566042492915416
-    ty: -0.007897239340413609
-    tz: -0.003693661312883509
-    qx: 4.67964875e-03
-    qy: 1.85614135e-04
-    qz: 9.99979331e-01
-    qw: -4.40505027e-03
-
-cam1:
-  cam_model: Pinhole
-  cam_width: 752
-  cam_height: 480
-  cam_fx: 468.78913369173745
-  cam_fy: 467.5190931023989
-  cam_cx: 370.95439423341037
-  cam_cy: 252.60335423343452
-  cam_d0: -0.3020452685540842
-  cam_d1: 0.0954902008790482
-  cam_d2: -0.0002718778867300321
-  cam_d3: -7.361225552870356e-05
-  T_cam_imu:
-    tx: -0.07447697444473064
-    ty: -0.007173982734579575
-    tz: -0.003287241474026921
-    qx: 3.18748643e-03
-    qy: -2.40618829e-04
-    qz: 9.99994656e-01
-    qw: -6.85537944e-04
\ No newline at end of file
diff --git a/svo_ros/param/camera_pinhole.yaml b/svo_ros/param/camera_pinhole.yaml
deleted file mode 100644
index 4898bcd..0000000
--- a/svo_ros/param/camera_pinhole.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-cam_model: Pinhole
-cam_width: 752
-cam_height: 480
-cam_fx: 414.536145
-cam_fy: 414.284429
-cam_cx: 348.804988
-cam_cy: 240.076451
-cam_d0: -0.283076
-cam_d1: 0.066674
-cam_d2: 0.000896
-cam_d3: 0.000778
\ No newline at end of file
diff --git a/svo_ros/param/vo_accurate.yaml b/svo_ros/param/vo_accurate.yaml
deleted file mode 100644
index 8446875..0000000
--- a/svo_ros/param/vo_accurate.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-grid_size: 20
-max_n_kfs: 50
-loba_num_iter: 10
-max_fts: 200
\ No newline at end of file
diff --git a/svo_ros/param/vo_fast.yaml b/svo_ros/param/vo_fast.yaml
deleted file mode 100644
index 0a1f30b..0000000
--- a/svo_ros/param/vo_fast.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-grid_size: 35
-max_n_kfs: 10
-loba_num_iter: 0
-max_fts: 120
\ No newline at end of file