From 085d73ee06ecf0646fca4a96019b30e378def28f Mon Sep 17 00:00:00 2001
From: yogesh kumar <kumaryogesh.usict.ipu@gmail.com>
Date: Thu, 25 Aug 2022 10:16:43 +0530
Subject: [PATCH] removed unused variables

---
 src/socket_publisher/data_serializer.h       | 2 +-
 src/stella_vslam/mapping_module.h            | 3 ---
 src/stella_vslam/module/initializer.h        | 3 +--
 src/stella_vslam/module/local_map_updater.cc | 2 +-
 src/stella_vslam/module/loop_detector.h      | 4 ----
 src/stella_vslam/system.cc                   | 2 +-
 src/stella_vslam/system.h                    | 2 --
 7 files changed, 4 insertions(+), 14 deletions(-)

diff --git a/src/socket_publisher/data_serializer.h b/src/socket_publisher/data_serializer.h
index 2cee516a1..790bb72ca 100644
--- a/src/socket_publisher/data_serializer.h
+++ b/src/socket_publisher/data_serializer.h
@@ -48,7 +48,7 @@ class data_serializer {
     std::unique_ptr<std::unordered_map<unsigned int, double>> point_hash_map_;
 
     double current_pose_hash_ = 0;
-    int frame_hash_ = 0;
+    
 
     inline double get_vec_hash(const stella_vslam::Vec3_t& point) {
         return point[0] + point[1] + point[2];
diff --git a/src/stella_vslam/mapping_module.h b/src/stella_vslam/mapping_module.h
index 254aa7eb2..fd1adcee7 100644
--- a/src/stella_vslam/mapping_module.h
+++ b/src/stella_vslam/mapping_module.h
@@ -221,9 +221,6 @@ class mapping_module {
     //! map database
     data::map_database* map_db_ = nullptr;
 
-    //! BoW database
-    data::bow_database* bow_db_ = nullptr;
-
     //! BoW vocabulary
     data::bow_vocabulary* bow_vocab_ = nullptr;
 
diff --git a/src/stella_vslam/module/initializer.h b/src/stella_vslam/module/initializer.h
index daa5258f2..d0f6a206d 100644
--- a/src/stella_vslam/module/initializer.h
+++ b/src/stella_vslam/module/initializer.h
@@ -60,8 +60,7 @@ class initializer {
 private:
     //! map database
     data::map_database* map_db_ = nullptr;
-    //! BoW database
-    data::bow_database* bow_db_ = nullptr;
+    
     //! initializer status
     initializer_state_t state_ = initializer_state_t::NotReady;
 
diff --git a/src/stella_vslam/module/local_map_updater.cc b/src/stella_vslam/module/local_map_updater.cc
index 224fabbb5..fd9d4545f 100644
--- a/src/stella_vslam/module/local_map_updater.cc
+++ b/src/stella_vslam/module/local_map_updater.cc
@@ -98,7 +98,7 @@ auto local_map_updater::find_second_local_keyframes(const std::vector<std::share
     second_local_keyfrms.reserve(4 * first_local_keyframes.size());
 
     // add the second-order keyframes to the local landmarks
-    auto add_second_local_keyframe = [this, &second_local_keyfrms, &already_found_keyfrm_ids](const std::shared_ptr<data::keyframe>& keyfrm) {
+    auto add_second_local_keyframe = [&second_local_keyfrms, &already_found_keyfrm_ids](const std::shared_ptr<data::keyframe>& keyfrm) {
         if (!keyfrm) {
             return false;
         }
diff --git a/src/stella_vslam/module/loop_detector.h b/src/stella_vslam/module/loop_detector.h
index 2dc7dbffb..1c6958ca0 100644
--- a/src/stella_vslam/module/loop_detector.h
+++ b/src/stella_vslam/module/loop_detector.h
@@ -122,8 +122,6 @@ class loop_detector {
 
     //! BoW database
     data::bow_database* bow_db_;
-    //! BoW vocabulary
-    data::bow_vocabulary* bow_vocab_;
 
     //! transform optimizer
     const optimize::transform_optimizer transform_optimizer_;
@@ -133,8 +131,6 @@ class loop_detector {
     //! flag which indicates the loop detector is enabled or not
     std::atomic<bool> loop_detector_is_enabled_{true};
 
-    //! for stereo/RGBD models, fix scale when estimating Sim3
-    const bool fix_scale_in_Sim3_estimation_;
 
     //! the threshold of the number of mutual matches after the Sim3 estimation
     const unsigned int num_final_matches_thr_;
diff --git a/src/stella_vslam/system.cc b/src/stella_vslam/system.cc
index f5e3dda3e..19f4d23d5 100644
--- a/src/stella_vslam/system.cc
+++ b/src/stella_vslam/system.cc
@@ -323,7 +323,7 @@ data::frame system::create_stereo_frame(const cv::Mat& left_img, const cv::Mat&
     std::thread thread_left([this, &frm_obs, &img_gray, &mask]() {
         extractor_left_->extract(img_gray, mask, keypts_, frm_obs.descriptors_);
     });
-    std::thread thread_right([this, &frm_obs, &right_img_gray, &mask, &keypts_right, &descriptors_right]() {
+    std::thread thread_right([this,&right_img_gray, &mask, &keypts_right, &descriptors_right]() {
         extractor_right_->extract(right_img_gray, mask, keypts_right, descriptors_right);
     });
     thread_left.join();
diff --git a/src/stella_vslam/system.h b/src/stella_vslam/system.h
index 69b1760e5..f0abf252a 100644
--- a/src/stella_vslam/system.h
+++ b/src/stella_vslam/system.h
@@ -238,8 +238,6 @@ class system {
     feature::orb_extractor* extractor_left_ = nullptr;
     //! ORB extractor for right image
     feature::orb_extractor* extractor_right_ = nullptr;
-    //! ORB extractor only when used in initializing
-    feature::orb_extractor* ini_extractor_left_ = nullptr;
 
     //! marker detector
     marker_detector::base* marker_detector_ = nullptr;