diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp index 568bd9472541c0f7b559901cc506766d3fc53c79..8533cb7a4472a0785ca121b2b7742f288499fd0c 100644 --- a/src/ceres_wrapper/ceres_manager.cpp +++ b/src/ceres_wrapper/ceres_manager.cpp @@ -289,6 +289,8 @@ void CeresManager::addStateBlock(const StateBlockPtr& state_ptr) ceres_problem_->AddParameterBlock(getAssociatedMemBlockPtr(state_ptr), state_ptr->getSize(), local_parametrization_ptr); + + updateStateBlockStatus(state_ptr); } void CeresManager::removeStateBlock(const StateBlockPtr& state_ptr)