From a5ac63f021b084a4a234ab74d2d0380f722190c6 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <usenko.vladyslav@gmail.com>
Date: Fri, 30 Oct 2020 12:14:11 +0100
Subject: [PATCH] fix bug in restore.

---
 include/basalt/vi_estimator/ba_base.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/basalt/vi_estimator/ba_base.h b/include/basalt/vi_estimator/ba_base.h
index 2cb0d4b..3b875af 100644
--- a/include/basalt/vi_estimator/ba_base.h
+++ b/include/basalt/vi_estimator/ba_base.h
@@ -399,7 +399,7 @@ class BundleAdjustmentBase {
 
   inline void restore() {
     for (auto& kv : frame_states) kv.second.restore();
-    for (auto& kv : frame_poses) kv.second.backup();
+    for (auto& kv : frame_poses) kv.second.restore();
     lmdb.restore();
   }