Remove unused code

Ultramarine1939-syujie · Jul 23, 2020 · 10069d9 · 10069d9
1 parent 6441137
commit 10069d9
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Showing 5 changed files with 4 additions and 458 deletions.
diff --git a/include/LucasKanadeTracker.h b/include/LucasKanadeTracker.h
diff --git a/include/Tracking.h b/include/Tracking.h
@@ -37,7 +37,6 @@
 #include "MapDrawer.h"
 #include "System.h"
 #include "ImuTypes.h"
-#include "LucasKanadeTracker.h"
 
 #include "GeometricCamera.h"
 

diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc
@@ -566,9 +566,9 @@ bool LoopClosing::DetectCommonRegionsFromBoW(std::vector<KeyFrame*> &vpBowCand,
     {
         nBoWMatches = 20;
         nBoWInliers = 15;
-        nSim3Inliers = 30;
-        nProjMatches = 50;
-        nProjOptMatches = 70;
+        nSim3Inliers = 20;
+        nProjMatches = 35;
+        nProjOptMatches = 50;
     }*/
 
     set<KeyFrame*> spConnectedKeyFrames = mpCurrentKF->GetConnectedKeyFrames();