Toggle whether to add reobserved landamrks (fixed landmarks in graph) E.g., should be disabled when tracking is lost for a long time without successfu

* @brief Set the frames to be considerd * @param[in] last_frames older frames * @param[in] new_frames newer frames */

Set pose of first frame by specifying the IMU pose

\brief Set initialisaiton status. @param[in] initialized Whether or not the 3d position is considered initialised.

Set number of features used for the alignment. If a number is <= 0 all features are used Specifying a number gives you the control about the performan

Set a time limit for the optimization process.

setters

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* @brief setTimeLimit changes time limit of optimization. * If you want to disable the time limit, either set it to a large value, *

Returns the skew-symmetric matrix of a vector cfo, 2015/08/13

Returns false if queue has been shut down.

Solve the linear system H*dx = g to obtain optimal perturbation dx.

Starts the timer

Start new accumulation: called when a new keyframe is added

Start timer for benchmarking

* @brief Get the timestamp for a particular frame. * @param[in] nframe_id ID of frame. * @return Timestamp of frame. */

Get tracking quality.

Transform the entire map with respect to the world frame fixation of all frames must be released before this!!!!

This must be called before optimization after adding residual blocks and/or marginalizing, since it performs all the lhs and rhs computations on from

Returns false if queue has been shut down.

Returns false if shutdown has been requested.

Default constructor.

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