Fix randomly failing sample consensus test - #6475
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The problem seems to be a lost wakeup: LMedS only does very few iterations (much fewer than the other sac methods) and sac.computeModel() accordingly returns quickly. In rare cases, it seems to be done before the main thread is listening/waiting for the condition_variable notification, so it is missed and the test fails after the timeout. The fix is to add a `bool done` that is set to true after sac.computeModel() is finished, and use the other overload of cv.wait_for() that returns the value of `done` (only true if finished before the timeout).
mvieth
added
module: test
module: sample_consensus
changelog: fix
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The problem seems to be a lost wakeup: LMedS only does very few iterations (much fewer than the other sac methods) and sac.computeModel() accordingly returns quickly. In rare cases, it seems to be done before the main thread is listening/waiting for the condition_variable notification, so it is missed and the test fails after the timeout. The fix is to add a
bool donethat is set to true after sac.computeModel() is finished, and use the other overload of cv.wait_for() that returns the value ofdone(only true if finished before the timeout).Reverts 11ab21b because the verbose output is no longer necessary.
See e.g. https://www.modernescpp.com/index.php/c-core-guidelines-be-aware-of-the-traps-of-condition-variables/