[QUESTION] Disable non-deterministic behaviour of KISS-Matcher

[hofbauerc]

Hello,

Recently we did some tests regarding the repeatability while using the same input clouds. However we saw that the resulting transformation varies for each execution. We would like to have a deterministic behaviour when using the estimate method. I saw a similar topic in another issue where you mentioned a specific code section (#18 (comment)). I also tried to adjust this section to be deterministic but still the result varies for each execution.

Here is the output of a simple test where I call estimate with the same clouds 5 times in a row:

I also tried some other adjustments in the code regarding random behavior but to no avail.

Are there any config or code adjustments that can be applied to achieve deterministic behavior when using the same clouds as input for the estimate method?

Thanks in advance!

[Dragonbt]

try this add clear code in FasterPFH.hpp :
inline void Clear() {
corrs_fpfh_.clear();
voxel_indices_.clear();
spfh_indices_.clear();
fpfh_indices_.clear();
spfh_hist_lookup_.clear(); // why int? To employee NOT_ASSIGNED

spfh_pairs_.clear();
spfh_hash_table_.clear();

num_points_per_voxel_.clear();
num_valid_voxels_.clear();

hist_f1_.clear();
hist_f2_.clear();
hist_f3_.clear();

// add clear for points and normals
points_.clear();
normals_.clear();
is_valid_.clear();
is_visited_.clear();
num_points_ = 0;

}

[ZerosXTT]

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