how to run optimizing thread after loading map

Open GauleeJX opened this issue 4 years ago • 0 comments

i have save map after running ORB_SLAM2, but now i add some constraints in optimizeEssentialGraph. So i would like to check the effeciency of my change. But in ORB_SLAM2, if i have a map, it will run in localization mode in which localmapping and optimization thread are deactived. How can i optimize the map after loading the map. Specifically, how to activate optimization thread in localization mode?

Nov 11 '21 09:11 GauleeJX