Optimizing VI Maps

Commands:

optv     # Optimization based on the visual data only (landmark observations)
optvi    # Optimization based on the visual and inertial terms (landmarks and IMU)

Hints:

• The optimization can be aborted at any time using Ctrl-C, it will then abort after at the end of the current iteration.
• Important flags:

  --ba_num_iterations                # Set the maximum number of iterations of the optimization.
  --ba_visualize_every_n_iterations  # Visualize the result of the optimization at every Nth step.