(More) determinism fixes

stella-cv / stella_vslam

This is a unofficial fork of OpenVSLAM (https://github.com/xdspacelab/openvslam)

https://stella-cv.rtfd.io/en/latest/

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(More) determinism fixes #483

Closed kbergel closed 1 year ago

kbergel commented 1 year ago

Sort the set returned by graph_node::get_spanning_children() by ID rather than pointer, because passing keyframes to global_bundle_adjuster::optimize() in different orders can affect results (in loop_bundle_adjuster::optimize(), via graph_node::get_keyframes_from_root()).
Correct argument order for pnp_solver constructor call in relocalizer.cc (fixes a change made in #294).

ymd-stella commented 1 year ago

Should we fix this as well?

https://github.com/stella-cv/stella_vslam/blob/d90db9187d049e89eb98da8264ca4eb39fafc753/src/stella_vslam/module/loop_detector.cc#L409-L411

kbergel commented 1 year ago

Should we fix this as well?

https://github.com/stella-cv/stella_vslam/blob/d90db9187d049e89eb98da8264ca4eb39fafc753/src/stella_vslam/module/loop_detector.cc#L409-L411

Oh, yes, definitely - I missed that one, sorry!

ymd-stella commented 1 year ago

I couldn't push to your branch, so I did a manual merge.