Non-deterministic localization error in rovioli unit test

ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework

https://maplab.asl.ethz.ch

Apache License 2.0

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Open anamud opened 4 years ago

anamud commented 4 years ago

The set of values for localization errors for each execution of the gtest "test_localizer" in the rovioli package is different.

(variable localization_error in line 48 of file test/test-localizer.cc in branch master)

Why is this so?

I am under the impression that the localization error in rovioli is deterministic i.e., static across multiple runs with the same inputs.

araujokth commented 4 years ago

In VIO mode the behavior is determistic but not in localization mode