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使用odo_raw_accu时轨迹跑飞 #35

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JaySlamer opened this issue Dec 10, 2020 · 3 comments
Open

使用odo_raw_accu时轨迹跑飞 #35

JaySlamer opened this issue Dec 10, 2020 · 3 comments

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@JaySlamer
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图片

所有参数使用的都是默认值。
@JaySlamer
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跑了很多次，有非常大概率出现跑歪的结果。如果不进行localBA，反而效果一直很稳定很好。

@izhengfan
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我原来也出现过跑飞的情况，但在我的机器上跑出现的概率比较低，十不足一，确实调试不出来原因

@cy-goh
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cy-goh commented Jan 29, 2021

Compared to ORB-SLAM2, there are variables accessed by the local mapping and tracking threads which are not guarded by mutex. This could be the reason.

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@cy-goh @izhengfan @JaySlamer