From 45934832dbef96dbc0c81a246d44ca958946de59 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 18 Nov 2016 00:39:00 -0500
Subject: [PATCH] updated multi-session ini

---
 .../MultiSession/multi-session10Hz.ini        | 54 +------------------
 .../MultiSession/multi-session1Hz.ini         | 21 +-------
 2 files changed, 2 insertions(+), 73 deletions(-)

diff --git a/doc/Tutorials/MultiSession/multi-session10Hz.ini b/doc/Tutorials/MultiSession/multi-session10Hz.ini
index 85ff86e..2803e45 100644
--- a/doc/Tutorials/MultiSession/multi-session10Hz.ini
+++ b/doc/Tutorials/MultiSession/multi-session10Hz.ini
@@ -37,7 +37,7 @@ LccBow\Iterations=100
 LccBow\MaxDepth=4
 LccBow\MinInliers=5
 LccIcp\Type=2
-LccIcp2\CorrespondenceRatio=0.7
+LccIcp2\CorrespondenceRatio=0.2
 LccIcp2\Iterations=100
 LccIcp2\MaxCorrespondenceDistance=0.1
 LccIcp2\MaxFitness=1
@@ -51,25 +51,6 @@ Mem\RehearsalIdUpdatedToNewOne=false
 Mem\RehearsalSimilarity=0.45
 Mem\RehearsedNodesKept=true
 Mem\STMSize=10
-Odom\AngularUpdate=0
-Odom\InlierDistance=0.1
-Odom\Iterations=100
-Odom\LinearUpdate=0
-Odom\MaxDepth=5
-Odom\MaxWords=0
-Odom\MinInliers=10
-Odom\ResetCountdown=0
-Odom\Type=0
-OdomBin\BriefBytes=32
-OdomBin\BruteForceMatching=true
-OdomBin\FastNonmaxSuppression=true
-OdomBin\FastThreshold=30
-OdomICP\CorrespondencesDistance=0.05
-OdomICP\Decimation=4
-OdomICP\Iterations=30
-OdomICP\MaxFitness=0.01
-OdomICP\Samples=0
-OdomICP\VoxelSize=0.005
 RGBD\AngularUpdate=0.01
 RGBD\Enabled=true
 RGBD\LinearUpdate=0.01
@@ -164,39 +145,6 @@ ORB\PatchSize=31
 ORB\ScaleFactor=1.2
 ORB\ScoreType=0
 ORB\WTA_K=2
-Odom\EstimationType=0
-Odom\FeatureType=6
-Odom\FillInfoData=true
-Odom\Force2D=true
-Odom\Holonomic=true
-Odom\ImageBufferSize=1
-Odom\MaxFeatures=1000
-Odom\ParticleFiltering=false
-Odom\ParticleLambdaR=100
-Odom\ParticleLambdaT=100
-Odom\ParticleNoiseR=0.002
-Odom\ParticleNoiseT=0.002
-Odom\ParticleSize=400
-Odom\PnPFlags=1
-Odom\PnPReprojError=5
-Odom\RefineIterations=5
-Odom\RoiRatios=0.0 0.0 0.0 0.0
-Odom\Strategy=0
-OdomBow\FixedLocalMapPath=
-OdomBow\LocalHistorySize=1000
-OdomBow\NNDR=0.8
-OdomBow\NNType=3
-OdomFlow\Eps=0.01
-OdomFlow\Iterations=30
-OdomFlow\MaxLevel=3
-OdomFlow\WinSize=16
-OdomMono\InitMinFlow=100
-OdomMono\InitMinTranslation=0.1
-OdomMono\MaxVariance=0.01
-OdomMono\MinTranslation=0.02
-OdomSubPix\Eps=0.02
-OdomSubPix\Iterations=0
-OdomSubPix\WinSize=3
 RGBD\GoalReachedRadius=0.5
 RGBD\GoalsSavedInUserData=false
 RGBD\LocalImmunizationRatio=0.25
diff --git a/doc/Tutorials/MultiSession/multi-session1Hz.ini b/doc/Tutorials/MultiSession/multi-session1Hz.ini
index 0a42985..d555cf2 100644
--- a/doc/Tutorials/MultiSession/multi-session1Hz.ini
+++ b/doc/Tutorials/MultiSession/multi-session1Hz.ini
@@ -37,7 +37,7 @@ LccBow\Iterations=100
 LccBow\MaxDepth=4
 LccBow\MinInliers=5
 LccIcp\Type=2
-LccIcp2\CorrespondenceRatio=0.7
+LccIcp2\CorrespondenceRatio=0.2
 LccIcp2\Iterations=100
 LccIcp2\MaxCorrespondenceDistance=0.1
 LccIcp2\MaxFitness=1
@@ -51,25 +51,6 @@ Mem\RehearsalIdUpdatedToNewOne=false
 Mem\RehearsalSimilarity=0.45
 Mem\RehearsedNodesKept=true
 Mem\STMSize=10
-Odom\AngularUpdate=0
-Odom\InlierDistance=0.005
-Odom\Iterations=100
-Odom\LinearUpdate=0
-Odom\MaxDepth=5
-Odom\MaxWords=0
-Odom\MinInliers=10
-Odom\ResetCountdown=10
-Odom\Type=0
-OdomBin\BriefBytes=32
-OdomBin\BruteForceMatching=true
-OdomBin\FastNonmaxSuppression=true
-OdomBin\FastThreshold=30
-OdomICP\CorrespondencesDistance=0.05
-OdomICP\Decimation=4
-OdomICP\Iterations=30
-OdomICP\MaxFitness=0.01
-OdomICP\Samples=0
-OdomICP\VoxelSize=0.005
 RGBD\AngularUpdate=0.01
 RGBD\Enabled=true
 RGBD\LinearUpdate=0.01