diff --git a/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE b/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE
deleted file mode 100644
index e69de29..0000000
diff --git a/GPU_version/vio/cmake-build-debug/CMakeCache.txt b/GPU_version/vio/cmake-build-debug/CMakeCache.txt
deleted file mode 100644
index d820937..0000000
--- a/GPU_version/vio/cmake-build-debug/CMakeCache.txt
+++ /dev/null
@@ -1,785 +0,0 @@
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-
-# Commands for the build/test/submit cycle
-ConfigureCommand: "/opt/clion-2020.3.2/bin/cmake/linux/bin/cmake" "/root/Project/ROS/src/vio_svo/GPU_version/svo"
-MakeCommand: 
-DefaultCTestConfigurationType: 
-
-# version control
-UpdateVersionOnly: 
-
-# CVS options
-# Default is "-d -P -A"
-CVSCommand: 
-CVSUpdateOptions: 
-
-# Subversion options
-SVNCommand: 
-SVNOptions: 
-SVNUpdateOptions: 
-
-# Git options
-GITCommand: 
-GITInitSubmodules: 
-GITUpdateOptions: 
-GITUpdateCustom: 
-
-# Perforce options
-P4Command: 
-P4Client: 
-P4Options: 
-P4UpdateOptions: 
-P4UpdateCustom: 
-
-# Generic update command
-UpdateCommand: 
-UpdateOptions: 
-UpdateType: 
-
-# Compiler info
-Compiler: /usr/bin/c++
-CompilerVersion: 7.5.0
-
-# Dynamic analysis (MemCheck)
-PurifyCommand: 
-ValgrindCommand: 
-ValgrindCommandOptions: 
-DrMemoryCommand: 
-DrMemoryCommandOptions: 
-MemoryCheckType: 
-MemoryCheckSanitizerOptions: 
-MemoryCheckCommand: 
-MemoryCheckCommandOptions: 
-MemoryCheckSuppressionFile: 
-
-# Coverage
-CoverageCommand: 
-CoverageExtraFlags: 
-
-# Cluster commands
-SlurmBatchCommand: 
-SlurmRunCommand: 
-
-# Testing options
-# TimeOut is the amount of time in seconds to wait for processes
-# to complete during testing.  After TimeOut seconds, the
-# process will be summarily terminated.
-# Currently set to 25 minutes
-TimeOut: 
-
-# During parallel testing CTest will not start a new test if doing
-# so would cause the system load to exceed this value.
-TestLoad: 
-
-UseLaunchers: 
-CurlOptions: 
-# warning, if you add new options here that have to do with submit,
-# you have to update cmCTestSubmitCommand.cxx
-
-# For CTest submissions that timeout, these options
-# specify behavior for retrying the submission
-CTestSubmitRetryDelay: 
-CTestSubmitRetryCount: 
diff --git a/GPU_version/vio/cmake-build-debug/CTestCustom.cmake b/GPU_version/vio/cmake-build-debug/CTestCustom.cmake
deleted file mode 100644
index 14956f3..0000000
--- a/GPU_version/vio/cmake-build-debug/CTestCustom.cmake
+++ /dev/null
@@ -1,2 +0,0 @@
-set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0)
-set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall
deleted file mode 100644
index b61ff9e..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py
deleted file mode 100755
index 760f26f..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python2
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python2.7/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh
deleted file mode 100755
index 8aa9d24..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash
deleted file mode 100644
index 7da0d97..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh
deleted file mode 100644
index d29ab41..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh
deleted file mode 100644
index e692acc..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash
deleted file mode 100644
index ff47af8..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh
deleted file mode 100644
index 1764d84..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh
deleted file mode 100644
index 9f780b7..0000000
--- a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake
deleted file mode 100644
index b3278c8..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake
+++ /dev/null
@@ -1,24 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "catkin")
-set(catkin_VERSION "0.7.28")
-set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
-set(catkin_PACKAGE_FORMAT "3")
-set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
-set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
-set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
-set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose")
-set(catkin_DOC_DEPENDS )
-set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
-set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
-set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
-set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh
deleted file mode 100755
index d6be91d..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup_cached.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup_cached.sh"
-exec "$@"
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py
deleted file mode 100644
index b1f2d17..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py
+++ /dev/null
@@ -1,30 +0,0 @@
-# -*- coding: utf-8 -*-
-from __future__ import print_function
-
-import os
-import stat
-import sys
-
-# find the import for catkin's python package - either from source space or from an installed underlay
-if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')):
-    sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python'))
-try:
-    from catkin.environment_cache import generate_environment_script
-except ImportError:
-    # search for catkin package in all workspaces and prepend to path
-    for workspace in '/opt/ros/melodic'.split(';'):
-        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
-        if os.path.isdir(os.path.join(python_path, 'catkin')):
-            sys.path.insert(0, python_path)
-            break
-    from catkin.environment_cache import generate_environment_script
-
-code = generate_environment_script('/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/env.sh')
-
-output_filename = '/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/catkin_generated/setup_cached.sh'
-with open(output_filename, 'w') as f:
-    # print('Generate script for cached setup "%s"' % output_filename)
-    f.write('\n'.join(code))
-
-mode = os.stat(output_filename).st_mode
-os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall
deleted file mode 100644
index 6fb13af..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /usr/local/setup.sh
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py
deleted file mode 100755
index 760f26f..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python2
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python2.7/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh
deleted file mode 100755
index 8aa9d24..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash
deleted file mode 100644
index 7da0d97..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh
deleted file mode 100644
index f021098..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/usr/local}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh
deleted file mode 100644
index e692acc..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash
deleted file mode 100644
index ff47af8..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh
deleted file mode 100644
index b5a330e..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/usr/local}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh
deleted file mode 100644
index 9f780b7..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh
deleted file mode 100755
index 619a325..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/python/catkin/environment_cache.py
-
-# based on a snapshot of the environment before and after calling the setup script
-# it emulates the modifications of the setup script without recurring computations
-
-# new environment variables
-
-# modified environment variables
-export CMAKE_PREFIX_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel:$CMAKE_PREFIX_PATH"
-export PATH='/opt/ros/melodic/bin:/opt/cmake-3.20.0-rc4-linux-x86_64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin'
-export ROSLISP_PACKAGE_DIRECTORIES='/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/share/common-lisp'
-export ROS_PACKAGE_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp
deleted file mode 100755
index 760f26f..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python2
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python2.7/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp
deleted file mode 100644
index 5e25fbf..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp
+++ /dev/null
@@ -1,255 +0,0 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-from __future__ import print_function
-
-import os
-import runpy
-import sys
-from argparse import ArgumentParser
-
-setup_modules = []
-
-try:
-    import distutils.core
-    setup_modules.append(distutils.core)
-except ImportError:
-    pass
-
-try:
-    import setuptools
-    setup_modules.append(setuptools)
-except ImportError:
-    pass
-
-assert setup_modules, 'Must have distutils or setuptools installed'
-
-
-def _get_locations(pkgs, package_dir):
-    """
-    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
-
-    See http://docs.python.org/distutils/setupscript.html
-
-    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
-    """
-    # package_dir contains a dict {package_name: relativepath}
-    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
-    #
-    # '' means where to look for any package unless a parent package
-    # is listed so package bar.pot is expected at lib2/bar/pot,
-    # whereas package sup.dee is expected at src/sup/dee
-    #
-    # if package_dir does not state anything about a package,
-    # setuptool expects the package folder to be in the root of the
-    # project
-    locations = {}
-    allprefix = package_dir.get('', '')
-    for pkg in pkgs:
-        parent_location = None
-        splits = pkg.split('.')
-        # we iterate over compound name from parent to child
-        # so once we found parent, children just append to their parent
-        for key_len in range(len(splits)):
-            key = '.'.join(splits[:key_len + 1])
-            if key not in locations:
-                if key in package_dir:
-                    locations[key] = package_dir[key]
-                elif parent_location is not None:
-                    locations[key] = os.path.join(parent_location, splits[key_len])
-                else:
-                    locations[key] = os.path.join(allprefix, key)
-            parent_location = locations[key]
-    return locations
-
-
-def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
-    """
-    Generate lines to add to a cmake file which will set variables.
-
-    :param version: str, format 'int.int.int'
-    :param scripts: [list of str]: relative paths to scripts
-    :param package_dir: {modulename: path}
-    :param pkgs: [list of str] python_packages declared in catkin package
-    :param modules: [list of str] python modules
-    :param setup_module: str, setuptools or distutils
-    """
-    prefix = '%s_SETUP_PY' % package_name
-    result = []
-    if setup_module:
-        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
-    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
-    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
-
-    # Remove packages with '.' separators.
-    #
-    # setuptools allows specifying submodules in other folders than
-    # their parent
-    #
-    # The symlink approach of catkin does not work with such submodules.
-    # In the common case, this does not matter as the submodule is
-    # within the containing module.  We verify this assumption, and if
-    # it passes, we remove submodule packages.
-    locations = _get_locations(pkgs, package_dir)
-    for pkgname, location in locations.items():
-        if '.' not in pkgname:
-            continue
-        splits = pkgname.split('.')
-        # hack: ignore write-combining setup.py files for msg and srv files
-        if splits[1] in ['msg', 'srv']:
-            continue
-        # check every child has the same root folder as its parent
-        root_name = splits[0]
-        root_location = location
-        for _ in range(len(splits) - 1):
-            root_location = os.path.dirname(root_location)
-        if root_location != locations[root_name]:
-            raise RuntimeError(
-                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
-
-    # If checks pass, remove all submodules
-    pkgs = [p for p in pkgs if '.' not in p]
-
-    resolved_pkgs = []
-    for pkg in pkgs:
-        resolved_pkgs += [locations[pkg]]
-
-    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
-    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
-
-    # skip modules which collide with package names
-    filtered_modules = []
-    for modname in modules:
-        splits = modname.split('.')
-        # check all parents too
-        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
-        if any(equals_package):
-            continue
-        filtered_modules.append(modname)
-    module_locations = _get_locations(filtered_modules, package_dir)
-
-    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
-    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
-
-    return result
-
-
-def _create_mock_setup_function(setup_module, package_name, outfile):
-    """
-    Create a function to call instead of distutils.core.setup or setuptools.setup.
-
-    It just captures some args and writes them into a file that can be used from cmake.
-
-    :param package_name: name of the package
-    :param outfile: filename that cmake will use afterwards
-    :returns: a function to replace disutils.core.setup and setuptools.setup
-    """
-
-    def setup(*args, **kwargs):
-        """Check kwargs and write a scriptfile."""
-        if 'version' not in kwargs:
-            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
-            raise RuntimeError('version not found in setup.py')
-        version = kwargs['version']
-        package_dir = kwargs.get('package_dir', {})
-
-        pkgs = kwargs.get('packages', [])
-        scripts = kwargs.get('scripts', [])
-        modules = kwargs.get('py_modules', [])
-
-        unsupported_args = [
-            'entry_points',
-            'exclude_package_data',
-            'ext_modules ',
-            'ext_package',
-            'include_package_data',
-            'namespace_packages',
-            'setup_requires',
-            'use_2to3',
-            'zip_safe']
-        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
-        if used_unsupported_args:
-            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
-
-        result = generate_cmake_file(package_name=package_name,
-                                     version=version,
-                                     scripts=scripts,
-                                     package_dir=package_dir,
-                                     pkgs=pkgs,
-                                     modules=modules,
-                                     setup_module=setup_module)
-        with open(outfile, 'w') as out:
-            out.write('\n'.join(result))
-
-    return setup
-
-
-def main():
-    """Script main, parses arguments and invokes Dummy.setup indirectly."""
-    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
-    parser.add_argument('package_name', help='Name of catkin package')
-    parser.add_argument('setupfile_path', help='Full path to setup.py')
-    parser.add_argument('outfile', help='Where to write result to')
-
-    args = parser.parse_args()
-
-    # print("%s" % sys.argv)
-    # PACKAGE_NAME = sys.argv[1]
-    # OUTFILE = sys.argv[3]
-    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
-    #      file=sys.stderr)
-
-    # print("executing %s" % args.setupfile_path)
-
-    # be sure you're in the directory containing
-    # setup.py so the sys.path manipulation works,
-    # so the import of __version__ works
-    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
-
-    # patch setup() function of distutils and setuptools for the
-    # context of evaluating setup.py
-    backup_modules = {}
-    try:
-
-        for module in setup_modules:
-            backup_modules[id(module)] = module.setup
-            module.setup = _create_mock_setup_function(
-                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
-
-        runpy.run_path(args.setupfile_path)
-    finally:
-        for module in setup_modules:
-            module.setup = backup_modules[id(module)]
-
-
-if __name__ == '__main__':
-    main()
diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp
deleted file mode 100644
index bfd7934..0000000
--- a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model
-  href="http://download.ros.org/schema/package_format3.xsd"
-  schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>catkin</name>
-  <version>0.7.28</version>
-  <description>Low-level build system macros and infrastructure for ROS.</description>
-  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
-  <license>BSD</license>
-
-  <url type="website">http://wiki.ros.org/catkin</url>
-  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
-  <url type="repository">https://github.com/ros/catkin</url>
-
-  <author>Troy Straszheim</author>
-  <author>Morten Kjaergaard</author>
-  <author>Brian Gerkey</author>
-  <author>Dirk Thomas</author>
-
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
-
-  <buildtool_depend>cmake</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
-
-  <buildtool_export_depend>cmake</buildtool_export_depend>
-  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
-
-  <build_export_depend>google-mock</build_export_depend>
-  <build_export_depend>gtest</build_export_depend>
-  <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
-  <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
-
-  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
-
-  <export>
-    <rosdoc config="rosdoc.yaml"/>
-    <architecture_independent/>
-  </export>
-</package>
diff --git a/GPU_version/vio/cmake-build-debug/devel/.catkin b/GPU_version/vio/cmake-build-debug/devel/.catkin
deleted file mode 100644
index 749f40c..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/.catkin
+++ /dev/null
@@ -1 +0,0 @@
-/root/Project/ROS/src/vio_svo/GPU_version/svo
\ No newline at end of file
diff --git a/GPU_version/vio/cmake-build-debug/devel/.rosinstall b/GPU_version/vio/cmake-build-debug/devel/.rosinstall
deleted file mode 100644
index b61ff9e..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/.rosinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh
diff --git a/GPU_version/vio/cmake-build-debug/devel/_setup_util.py b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py
deleted file mode 100755
index 760f26f..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/_setup_util.py
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python2
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python2.7/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/GPU_version/vio/cmake-build-debug/devel/cmake.lock b/GPU_version/vio/cmake-build-debug/devel/cmake.lock
deleted file mode 100644
index e69de29..0000000
diff --git a/GPU_version/vio/cmake-build-debug/devel/env.sh b/GPU_version/vio/cmake-build-debug/devel/env.sh
deleted file mode 100755
index 8aa9d24..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/env.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.bash b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash
deleted file mode 100644
index 7da0d97..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/local_setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.sh b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh
deleted file mode 100644
index d29ab41..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/local_setup.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh
deleted file mode 100644
index e692acc..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.bash b/GPU_version/vio/cmake-build-debug/devel/setup.bash
deleted file mode 100644
index ff47af8..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.sh b/GPU_version/vio/cmake-build-debug/devel/setup.sh
deleted file mode 100644
index 1764d84..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/setup.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.zsh b/GPU_version/vio/cmake-build-debug/devel/setup.zsh
deleted file mode 100644
index 9f780b7..0000000
--- a/GPU_version/vio/cmake-build-debug/devel/setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'