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Merge pull request #658 from Dominik-FKIE/patch-1

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Bugfix Corewrapper::globalBundleAdjustmentCallback
This commit is contained in:
matlabbe
2021-10-14 15:59:17 -04:00
committed by GitHub
parent 176e6126b8 9ee61b9a27
commit 79369f654c
1 changed files with 1 additions and 1 deletions
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src/CoreWrapper.cpp
+1 -1
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@@ -3233,7 +3233,7 @@ bool CoreWrapper::globalBundleAdjustmentCallback(rtabmap_ros::GlobalBundleAdjust
iterations, iterations,
pixelVariance, pixelVariance,
rematchFeatures?"true":"false"); rematchFeatures?"true":"false");
bool success = rtabmap_.globalBundleAdjustment((Optimizer::Type)optimizer, iterations, pixelVariance, rematchFeatures); bool success = rtabmap_.globalBundleAdjustment((Optimizer::Type)optimizer, rematchFeatures, iterations, pixelVariance);
if(!success) if(!success)
{ {
NODELET_ERROR("Post-Processing: Global Bundle Adjustment failed!"); NODELET_ERROR("Post-Processing: Global Bundle Adjustment failed!");