Different results for the same video in different runs

[mennatullahnoaman]

Hello all,

First I would thank you for the great work.

Second I want to ask why different runs of example run_video_slam.cc on the same video get different results ?
I follow the code and set all fixed_seed with true by :
sed -i -- 's/use_fixed_seed = false/use_fixed_seed = true/g' src/stella_vslam/*/*.h
so modified files : initializer.cc , loop_detector.cc and relocalizer.cc
and also add use_fixed_seed: true in the config.yaml file for loopdetector and Initializer

#=========================#

LoopDetector Parameters

#=========================#
LoopDetector:
enabled: true
reject_by_graph_distance: true
min_distance_on_graph: 50
use_fixed_seed: true
#========================#

Initializer Parameters

#========================#
Initializer:
use_fixed_seed: true
but still there is small different between two runs .. Can you help me figure out what is the reason for this difference?

Third I would like to know the example configs file parameter values is it set random or it is based on experiments ?

Again, Thanks for the great efforts.

[ymd-stella]

Check DETERMINISTIC compile option.

stella_vslam/src/stella_vslam/CMakeLists.txt

Line 148 in b55ba92

set (DETERMINISTIC OFF CACHE BOOL "Use deterministic code")