File: rtabmap_ros/GlobalBundleAdjustment.srv
Raw Message Definition
# Global Bundle Adjustment service
#
# Perform global bundle adjustment. Note that as soon as the map
# is modified again, the graph is re-optimized the standard way (without SBA).
# It then makes only sense to use this after a mapping run (and after a call
# to /rtabmap/pause) when you know that the robot will restart in localization
# mode the next time, or at the beginning of the localization session.
#
# Optimizer type (0=g2o, 1=CVSBA), default 0
int32 type
# Iterations, default 0 (use Optimizer/Iterations already loaded in the node)
int32 iterations
# Pixel variance, default 0 (use g2o/PixelVariance already loaded in the node)
float32 pixel_variance
# Use vocabulary matches, default false (rematch all features between frames)
bool voc_matches
---
# return false if failure
Compact Message Definition
int32 type
int32 iterations
float32 pixel_variance
bool voc_matches