| 31 | void PoseGraph::set_fast_relocalization(const bool fast_relocalization) { is_fast_localization_ = fast_relocalization; } |
| 32 | |
| 33 | void PoseGraph::setBriefVocAndDB(BriefVocabulary* vocabulary, BriefDatabase database) { |
| 34 | voc = vocabulary; |
| 35 | db = database; |
| 36 | } |
| 37 | |
| 38 | void PoseGraph::startOptimizationThread(bool vio_only_optimization) { |
| 39 | if (vio_only_optimization) { |