how to run optimizing thread after loading map

raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

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how to run optimizing thread after loading map #1023

Open GauleeJX opened 3 years ago

GauleeJX commented 3 years ago

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?