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How to run multi thread ICE-BA (run local/global BA in parallel) #20

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chenleexyz opened this issue Oct 11, 2018 · 0 comments

chenleexyz commented Oct 11, 2018

ICE-BA/Backend/IBA/IBA.h

Line 38 in b004bb5

void Create(const Calibration &K, const int serial = IBA_SERIAL_NONE,

the serial parameter controls running mode, specifically:

IBA_SERIAL_NONE is the default parameter, both LBA and GBA runs in background, calling PushFrame returns directly
IBA_SERIAL_LBA makes LBA serial, the GBA still runs in background, calling PushFrame will block until LBA finished
IBA_SERIAL_LBA|IBA_SERIAL_GBA both serial, calling PushFrame will block until both LBA and GBA finished

NOTE In the demo apps, we create solver with IBA_SERIAL_LBA|IBA_SERIAL_GBA.

chenleexyz closed this as completed

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