Frame locations not deterministic in SparseOptimizer

[joaofaro]

Hey,

I've been using g2o and I realised that, if I run the SparseOptimizer with the same input data a couple of times, I get different frame locations once in a while (it's not always, sometimes the results are the same over different runs). Another strange thing is that, although the frame location may change, the location of the points and the activeChi2 computed before and after the optimization are constant over different runs. Is this the expected behaviour?

Thanks in advance!

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