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tips_development.md

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Tips for development

  • To make the pipeline deterministic:
    • Disable TBB in GTSAM (go to build folder in gtsam, use cmake-gui to unset GTSAM_WITH_TBB).
    • Change ransac_randomize flag in params/trackerParameters.yaml to 0, to disable ransac randomization.

Note: these changes are not sufficient to make the output repeatable between different machines.

Note: remember that we are using -march=native compiler flag, which will be a problem if we ever want to distribute binaries of this code.