# 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