From 9ee61b9a2750921624130addecd6a1a80ad5a214 Mon Sep 17 00:00:00 2001
From: Dominik Klein <Dominik.Klein@fkie.fraunhofer.de>
Date: Thu, 14 Oct 2021 10:40:16 +0200
Subject: [PATCH] Bugfix Corewrapper::globalBundleAdjustmentCallback

Fixed wrong order of arguments in the call to Rtabmap::globalBundleAdjustment method.
---
 src/CoreWrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index f7de221e..a50a6a9c 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -3233,7 +3233,7 @@ bool CoreWrapper::globalBundleAdjustmentCallback(rtabmap_ros::GlobalBundleAdjust
 			iterations,
 			pixelVariance,
 			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)
 	{
 		NODELET_ERROR("Post-Processing: Global Bundle Adjustment failed!");