From ba388061b0f9ed9584e57d6019c30b044a657c3e Mon Sep 17 00:00:00 2001
From: Markus Vieth <mvieth@techfak.uni-bielefeld.de>
Date: Sat, 8 Jan 2022 16:28:28 +0100
Subject: [PATCH] Improve correspondence rejector test So far, the test was
 only run for one specific seed, for which the test passes. But for other
 seeds, the test failed roughly 50% of the time. Now the seed is varied (for
 better test coverage), and the parameters are adapted so that the test passes
 for all seeds.

---
 test/registration/test_correspondence_rejectors.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/test/registration/test_correspondence_rejectors.cpp b/test/registration/test_correspondence_rejectors.cpp
index 651a080a8c6..739e626664f 100644
--- a/test/registration/test_correspondence_rejectors.cpp
+++ b/test/registration/test_correspondence_rejectors.cpp
@@ -104,14 +104,15 @@ TEST (CorrespondenceRejectors, CorrespondenceRejectionPoly)
     point.z += nd.run();
   }
   
-  // Ensure deterministic sampling inside the rejector
-  std::srand (1e6);
+  // Test rejector with varying seeds
+  const unsigned int seed = std::time(nullptr);
+  std::srand (seed);
   
   // Create a rejection object
   pcl::registration::CorrespondenceRejectorPoly<pcl::PointXYZ, pcl::PointXYZ> reject;
-  reject.setIterations (10000);
+  reject.setIterations (20000);
   reject.setCardinality (3);
-  reject.setSimilarityThreshold (0.75f);
+  reject.setSimilarityThreshold (0.8f);
   reject.setInputSource (cloud.makeShared ());
   reject.setInputTarget (target.makeShared ());