Options to turn off backend

[cobar001]

@liuhaomin @wangjio

• I believe the global ba is on by default. Is there an option to run VIO only?

• If I focus on the speed of the VIO (the estimation part, not including image processing), which function should I time to get a good evaluation?

Thank you!

[wangjio]

• If you want to close GBA:
  [back-end only mode] Set 'debug_gba' to '-1' in config file, and uncomment

  ICE-BA/Backend/IBA/IBA_config.h

  Line 42 in b004bb5

  //#define CFG_DEBUG

  to define Marco 'CFG_DEBUG'. Then GBA will be closed.
  [run ice-ba] Change

  ICE-BA/App/EuRoC_test.cpp

  Line 452 in b004bb5

  IBA_DEBUG_NONE,

  to 0x0000FF00, and uncomment

  ICE-BA/Backend/IBA/IBA_config.h

  Line 42 in b004bb5

  //#define CFG_DEBUG

  to define Marco 'CFG_DEBUG'. Then GBA will be closed.

• We provide function to evaluate LBA or GBA time consuming.
  For back-end only mode, set 'history_lba' or 'history_gba' to '1' in config file, then

  ICE-BA/App/run_backend.cpp

  Lines 431 to 436 in b004bb5

  	if (tLBA) {
  	solver.GetTimeLBA(tLBA);
  	}
  	if (tGBA) {
  	solver.GetTimeGBA(tGBA);
  	}

  will print the average time consuming on your terminal. If you want to do this in ice-ba mode, call GetTimeLBA or GetTimeGBA as run_backend.cpp has done.

[cobar001]

That works! Thanks a lot!

[cobar001]

@wangjio One more question. I got the time of LBA as you suggested, but it took 10+ ms on average, which is much longer than 2-3 ms as shown in the paper. I was running on my laptop with i7-6700HQ 2.6GHz CPU. I understand it is slower than the machine used in the paper but I did not expect such a big difference. Did I do something wrong or the configuration here is different from the paper? Thank you.