buenos
buenos
> Having same issue, anyone can help? Meanwhile, the current implementation actually runs global BA just before system termination, which is not real-time performance.. I have the same question.
Yes, I have the same problem with you.  Would you give me a contact method(WeChat or E-mail) therefore we can communicate more details.
Try to save data directly from visualization.py and the result is good. Why reconstruction is bad? I guess poses were optimized after, so you should save the data in time...