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

[chenleexyz]

https://github.com/baidu/ICE-BA/blob/b004bb5afc0d554d49742aae8503d231213f7e6d/Backend/IBA/IBA.h#L38

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.