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making some tests less flaky

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matlabbe
2026-05-24 22:39:04 -07:00
parent e9c0194546
commit 828a7ed100
5 changed files with 127 additions and 16 deletions
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corelib/src/util3d_motion_estimation.cpp
+38
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@@ -56,6 +56,24 @@ namespace rtabmap
namespace util3d
{
namespace {
// When true, every newly-constructed OpenGV SAC problem inside this
// translation unit gets its RNG reseeded with a fixed constant so that
// RANSAC is bit-for-bit reproducible. Tests can flip this on via
// setRansacDeterministicSeed(true); production code leaves it off.
bool g_ransacDeterministicSeed = false;
} // namespace
void setRansacDeterministicSeed(bool enable)
{
g_ransacDeterministicSeed = enable;
}
bool ransacDeterministicSeedEnabled()
{
return g_ransacDeterministicSeed;
}
Transform estimateMotion3DTo2D(
const std::map<int, cv::Point3f> & words3A,
const std::map<int, cv::KeyPoint> & words2B,
@@ -517,6 +535,18 @@ Transform estimateMotion3DTo2D(
std::shared_ptr<opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem> absposeproblem_ptr(
new opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem(adapter));
// Opt-in deterministic RANSAC: OpenGV's default constructor seeds
// its internal mt19937 from the system clock, so without this
// override two calls with identical inputs can produce different
// inlier sets / covariances. Tests flip the toggle via
// setRansacDeterministicSeed(true).
if(g_ransacDeterministicSeed)
{
absposeproblem_ptr->rng_alg_.seed(12345u);
absposeproblem_ptr->rng_gen_.reset(new std::function<int()>(
std::bind(*absposeproblem_ptr->rng_dist_, absposeproblem_ptr->rng_alg_)));
}
ransac.sac_model_ = absposeproblem_ptr;
ransac.threshold_ = 1.0 - cos(atan(reprojError/cameraModels[0].fx()));
ransac.max_iterations_ = iterations;
@@ -572,6 +602,14 @@ Transform estimateMotion3DTo2D(
std::shared_ptr<opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem> absposeproblem_ptr(
new opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem(adapter, opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::GP3P));
// Opt-in deterministic RANSAC (see comment on MultiRansac above).
if(g_ransacDeterministicSeed)
{
absposeproblem_ptr->rng_alg_.seed(12345u);
absposeproblem_ptr->rng_gen_.reset(new std::function<int()>(
std::bind(*absposeproblem_ptr->rng_dist_, absposeproblem_ptr->rng_alg_)));
}
ransac.sac_model_ = absposeproblem_ptr;
ransac.threshold_ = 1.0 - cos(atan(reprojError/cameraModels[0].fx()));
ransac.max_iterations_ = iterations;