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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
1.58k stars 542 forks source link

Add seed to Random sampling filter #501

Closed boxanm closed 1 year ago

boxanm commented 1 year ago

I added the seed parameter, already present for other filters, such as Maximum point count or NSS. I think that eventually this parameter should be added to all filters that contain randomness to allow a fair comparison between e.g. sampling methods.

ethzasl-jenkins commented 1 year ago

Can one of the admins verify this patch?

pomerlef commented 1 year ago

add to whitelist

YoshuaNava commented 1 year ago

Thank you!!!

YoshuaNava commented 1 year ago

Btw, an idea for follow-up. In those unit tests that rely on randomness, we could record the random seed, such that we can still 'test the filters randomly' (random is, ultimately, their intended behavior), but still be able to debug test failures.

See http://google.github.io/googletest/reference/testing.html#Test::RecordProperty

pomerlef commented 1 year ago

ok to test

pomerlef commented 1 year ago

Took me a while to pin point the error in the log:

fatal: unable to connect to github.com:
github.com[0: 140.82.121.4]: errno=Connection timed out

The ASL CI server is not behaving properly and I'm not sure who is maintaining that anymore.