tips_development.md

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.