threadFitSpline.join() #29
Description
Hi, Thien-Minh Nguyen
Thank you for this excellent SLAM system!
I would like to confirm: When these two lines (threadFitSpline.join()) are commented out vs. uncommented, do the optimization results remain consistent and identical on your test system?
slict/src/Estimator.cpp
1534 if(threadFitSpline.joinable())
1535 threadFitSpline.join();
On my machine, keeping them commented causes immediate crashes, so I must uncomment them to run the system at all. However, I'm curious whether on systems where both versions can run without crashing, the final trajectories and maps are numerically identical, or if there are subtle differences due to the race condition affecting the optimization process. This would help determine if this is purely a stability issue or also affects result accuracy.
I hope this detailed analysis helps improve its robustness. Please let me know if you need any additional information or testing.