Is FBoW deterministic?

[mitul93]

Hi

I am trying to understand if BoW calculation is deterministic in nature.

In FBoW repository, I came across rand() function which calculates BoW. https://github.com/rmsalinas/fbow/blob/e148dbcbd8ee1976b1b07988b5761a9171b9f01a/src/vocabulary_creator.cpp#L171

If BoW is not deterministic, then I suspect -DDETERMINISTIC=ON flag can potentially produce different result in case of loop detection or relocalization or point triangulation inside mapping module.

Can someone help me to understand this?

Thanks
Mitul