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hku-mars / ikd-Tree

This repository provides implementation of an incremental k-d tree for robotic applications.
GNU General Public License v2.0
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error msg #5

Closed femust closed 3 years ago

femust commented 3 years ago

Hey,

can you explain to me what's the reason when this triggers?

femust commented 3 years ago

@Ecstasy-EC @XW-HKU

Ecstasy-EC commented 3 years ago

@femust Sorry for my late reply. The error is resulted from the multi-thread implementation. When the second thread finishes performing all operations inside the operation logger into the newly built tree , it will move on to lock the thread and replace the original tree in the main thread. However, between the finishing time and the lock time, it is possible to have incremental operations inserted to the operation logger. Therefore there will be some incremental operations left in the logger. In the next rebuilding process in the second thread, this error msg will be triggered. In my test, this error only appears at the beginning of the algorithm. It seldom happens and does not harm the performance.

femust commented 3 years ago

@Ecstasy-EC ok thanks for the answer