From c359eaa9d010af50a0a949f82a38303dd7d3c2ba Mon Sep 17 00:00:00 2001
From: Markus Vieth <mvieth@techfak.uni-bielefeld.de>
Date: Thu, 3 Sep 2026 18:15:58 +0200
Subject: [PATCH] Fix randomly failing sample consensus test 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).

---
 .../test_sample_consensus.cpp                 | 20 +++++--------------
 1 file changed, 5 insertions(+), 15 deletions(-)

diff --git a/test/sample_consensus/test_sample_consensus.cpp b/test/sample_consensus/test_sample_consensus.cpp
index faf33cc8e97..86565f9355f 100644
--- a/test/sample_consensus/test_sample_consensus.cpp
+++ b/test/sample_consensus/test_sample_consensus.cpp
@@ -111,27 +111,19 @@ TYPED_TEST(SacTest, InfiniteLoop)
   SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
   TypeParam sac (model, 0.03);
 
-  // This test sometimes fails for LMedS on azure, but always passes when run locally.
-  // Enable all output for LMedS, so that when it fails next time, we hopefully see why.
-  // This can be removed again when the failure reason is found and fixed.
-  int debug_verbosity_level = 0;
-  const auto previous_verbosity_level = pcl::console::getVerbosityLevel();
-  if (std::is_same<TypeParam, LeastMedianSquares<PointXYZ>>::value) {
-    debug_verbosity_level = 2;
-    pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE);
-  }
-
   // Set up timed conditions
   std::condition_variable cv;
   std::mutex mtx;
+  bool done = false; // set to true when computeModel() has returned
 
   // Create the RANSAC object
   std::thread thread ([&] ()
   {
-    sac.computeModel (debug_verbosity_level);
+    sac.computeModel (0);
 
     // Notify things are done
     std::lock_guard<std::mutex> lock (mtx);
+    done = true;
     cv.notify_one ();
   });
 
@@ -139,15 +131,13 @@ TYPED_TEST(SacTest, InfiniteLoop)
   // Waits for the delay
   std::unique_lock<std::mutex> lock (mtx);
   #if defined(DEBUG) || defined(_DEBUG)
-    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 15s));
+    ASSERT_TRUE (cv.wait_for (lock, 15s, [&done]{ return done; }));
   #else
-    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 2s));
+    ASSERT_TRUE (cv.wait_for (lock, 2s, [&done]{ return done; }));
   #endif
   // release lock to avoid deadlock
   lock.unlock();
   thread.join ();
-
-  pcl::console::setVerbosityLevel(previous_verbosity_level); // reset verbosity level
 }
 
 int