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different results when running the project more than once #45
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Hi Chan looks like there is: poine@ella ~/work/ORB_SLAM2 $ grep -ri rand src/ poine@ella ~/work/ORB_SLAM2 $ grep -ri ransac src/ HTH Poine On Tue, Mar 22, 2016 at 2:58 AM, Chan Ming notifications@github.com wrote:
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Yes, I notice these code of random. But currently I just want to check the first two images. and I notice that before calling DistributeOctTree in ORBextractor.cc, the input is the same, but after this calling, keypoints is not the same. The order is changed, which results in different matches. Do you know this?
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by the way, I notice you use sort or set with input of pointers, so when the first element is the same, it is going to compare the pointers, which I think is not correctly used. |
Hi @sunstarchan |
As you know, in System.cc constructor of class System, there creates three thread for local mapping, loop closing and view. So with the main thread, there are four thread in total. local mapping thread is invoked whenever there is a key frame inserted. so in order to avoid this thread, I rewrite the LocalMapping::InsertKeyFrame function to include all processing of LocalMapping::Run() in while(1). The same for loop closing. for viewer, I just show the result after processing one frame. I think it's more easier to implement. then if you have any problems, just let me know. |
Hi @sunstarchan , I'm working on ORB SLAM right now and am totally new to it . I'm also facing the same issue of getting different keypoints after calling DistributeOctTree eventhough the inputs given are same. Could you please clarify how you rectified it. Thanks |
one reason of getting different keypoints after calling DistributeOctTree is that there 4 if conditions if the compiler optimization is enabled, then the running sequence of these 4 if is not guaranteed. But this will not cause too much difference. In my case, there just about 4 keypoints different. Except for random number, multiple threads is another reason the result various. It is related to system overload. |
I noticed the change while its loop is detected, First time it continued tracking after the loop detection, but after that, that is after more than once execution using the same kitti data set, the program ends. why is it so? |
@sunstarchan @teenapjose I digged more into the problem of different keypoint extraction results. And I found that the call to sort() in https://github.com/raulmur/ORB_SLAM2/blob/master/src/ORBextractor.cc#L684 was the issue. |
Thanks for your explanation. I think this issue can be closed now. |
Hi @raulmur
When I run mono_kitti example with the 3rd dataset, I find the result is different when running more than once, even I change whole project to single thread.
Is there any random processing that causes these difference?
Thanks.
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