Enable multi-thread during optimization

[zhixy]

I notice that the number of threads is set according to cpu core here, however when I really calibrate camera-imu, only one thread is been used as I make sure that with system monitor.

[kongdaqing]

I have same problem! how to solve this!

[JACKLiuDay]

I have the same problem too, waiting so long time for the result of calibration

[DavidNY123]

I have same problem too!

[JACKLiuDay]

I have same problem too!

Hi, you can build your kalibr with release. Only release version can run fast.

[DavidNY123]

I have same problem too!

Hi, you can build your kalibr with release. Only release version can run fast.

Hello,thank u for your reply! But I still have this problem.Only one thread is enable

[JACKLiuDay]

I have same problem too!

Hi, you can build your kalibr with release. Only release version can run fast.

Hello,thank u for your reply! But I still have this problem.Only one thread is enable

catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release You can try this command and it worked for me.

[goldbattle]

This is actually due to the backend solver BlockCholeskyLinearSystemSolver not supporting multiple threads. It would be nice to do what is described in it: https://github.com/ethz-asl/kalibr/blob/e9453e0734abec221d4335b1d6fb3202b1c9ff2b/aslam_optimizer/aslam_backend/src/BlockCholeskyLinearSystemSolver.cpp#L58-L72