Windows上测试效果与WSL2(ubuntu)上不一致 - Test on windows, get bad result comparing with Ubuntu

[yuxiaoz]

将代码转移到windows上后，发现待遇运行效果与ubuntu上差异很大，体现在LocalBA后，优化效果出错，同样的数据集，初始化成功，开始追踪后，同样的数据LocalBA优化后，在Windows上删除了很多地图点，但是在Ubuntu上没有这种现象，请问是哪些编译选项设置出了问题？在ubuntu上是使用gcc编译，在windows上是使用MSVC编译。

When test on windows, the same dataset, same code with testing on Ubuntu. Feature extraction, triangulation seems normally and correct, however, after LocalBA, more mappoints were deleted, how to solve this problem?

[yuxiaoz]

同样在linux(WSL2)上，使用debug模式编译，运行效果也与Release模式不一致，同样的代码。问题可能出现在这个g2o里边，费解。

继续跟了下，发现在Ubuntu上如果使用-O0选项编译，LocalBA的效果会变差，还不清楚windows上是什么情况。 将g2o的verbose打开，发现优化出现了异常，突然lamda就很大了，持续解决中。 iteration= 0 chi2= 0.007598 time= 0.00299621 cumTime= 0.00299621 edges= 604 terminate() = 0 result = 1 ok= 1 schur= 1 lambda= 0.003222 levenbergIter= 1 iteration= 1 chi2= 0.005046 time= 0.00199986 cumTime= 0.00499606 edges= 604 terminate() = 0 result = 1 ok= 1 schur= 1 lambda= 0.002148 levenbergIter= 1 iteration= 2 chi2= 0.004327 time= 0.00199103 cumTime= 0.00698709 edges= 604 terminate() = 0 result = 1 ok= 1 schur= 1 lambda= 0.001432 levenbergIter= 1 qmax = 10, rho = -1.85353e-08 iteration= 3 chi2= 0.004327 time= 0.00300407 cumTime= 0.00999117 edges= 604 terminate() = 0 result = 2 ok= 0 schur= 1 lambda= 51593782950108.140625 levenbergIter= 10

[nesquik011]

it crashes right you after lope closer ? and also uses massive amounts of ram right ?

[sandeshchand87]

@yuxiaoz Have you build and successfully orbslam3 project in windows? I am facing issues.