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Bugfix Corewrapper::globalBundleAdjustmentCallback

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Fixed wrong order of arguments in the call to Rtabmap::globalBundleAdjustment method.
This commit is contained in:
Dominik Klein
2021-10-14 10:40:16 +02:00
committed by GitHub
parent 176e6126b8
commit 9ee61b9a27
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!");