8000 Improved tests for reconstruction merging by ahojnnes · Pull Request #3413 · colmap/colmap · GitHub
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Improved tests for reconstruction merging #3413

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Merged
merged 1 commit into from
Jun 23, 2025
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Improved tests for reconstruction merging #3413

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48 changes: 33 additions & 15 deletions src/colmap/estimators/alignment_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -178,34 +178,52 @@ TEST(Alignment, MergeReconstructions) {
// Synthesize a reconstruction which has at least two cameras
Reconstruction src_reconstruction;
SyntheticDatasetOptions synthetic_dataset_options;
synthetic_dataset_options.num_rigs = 2;
synthetic_dataset_options.num_rigs = 3;
synthetic_dataset_options.num_cameras_per_rig = 1;
synthetic_dataset_options.num_frames_per_rig = 10;
synthetic_dataset_options.num_points3D = 50;
synthetic_dataset_options.point2D_stddev = 0;
SynthesizeDataset(synthetic_dataset_options, &src_reconstruction);
Reconstruction orig_reconstruction = src_reconstruction;
Reconstruction tgt_reconstruction = src_reconstruction;

// Remove the rig of the first image from the target reconstruction.
const std::vector<frame_t> frame_ids = tgt_reconstruction.RegFrameIds();
const rig_t rig_id = tgt_reconstruction.Frame(*frame_ids.begin()).RigId();
for (const auto& frame_id : frame_ids) {
if (tgt_reconstruction.Frame(frame_id).RigId() == rig_id) {
tgt_reconstruction.DeRegisterFrame(frame_id);
auto remove_rig_frames = [](Reconstruction& reconstruction, rig_t rig_id) {
const std::vector<frame_t> frame_ids = reconstruction.RegFrameIds();
for (const auto& frame_id : frame_ids) {
if (reconstruction.Frame(frame_id).RigId() == rig_id) {
reconstruction.DeRegisterFrame(frame_id);
}
}
}
tgt_reconstruction.TearDown();
EXPECT_EQ(tgt_reconstruction.NumCameras(), 1);
EXPECT_EQ(tgt_reconstruction.NumImages(), 10);
};

// Merge reconstructions
ASSERT_TRUE(
MergeReconstructions(0.01, src_reconstruction, tgt_reconstruction));
remove_rig_frames(src_reconstruction, 1);
remove_rig_frames(tgt_reconstruction, 2);

// Remove all unregistered rigs/cameras/frames/images.
src_reconstruction.TearDown();
tgt_reconstruction.TearDown();
EXPECT_EQ(src_reconstruction.NumRigs(), 2);
EXPECT_EQ(src_reconstruction.NumCameras(), 2);
EXPECT_EQ(src_reconstruction.NumFrames(), 20);
EXPECT_EQ(src_reconstruction.NumRegFrames(), 20);
EXPECT_EQ(src_reconstruction.NumImages(), 20);
EXPECT_EQ(tgt_reconstruction.NumRigs(), 2);
EXPECT_EQ(tgt_reconstruction.NumCameras(), 2);
EXPECT_EQ(tgt_reconstruction.NumFrames(), 20);
EXPECT_EQ(tgt_reconstruction.NumRegFrames(), 20);
EXPECT_EQ(tgt_reconstruction.NumImages(), 20);

// Merge reconstructions.
ASSERT_TRUE(MergeReconstructions(
/*max_reproj_error=*/1e-4, src_reconstruction, tgt_reconstruction));
EXPECT_EQ(tgt_reconstruction.NumRigs(), 3);
EXPECT_EQ(tgt_reconstruction.NumCameras(), 3);
EXPECT_EQ(tgt_reconstruction.NumFrames(), 30);
EXPECT_EQ(tgt_reconstruction.NumRegFrames(), 30);
EXPECT_EQ(tgt_reconstruction.NumImages(), 30);
EXPECT_EQ(tgt_reconstruction.NumPoints3D(), 50);
EXPECT_EQ(tgt_reconstruction.ComputeNumObservations(),
src_reconstruction.ComputeNumObservations());
orig_reconstruction.ComputeNumObservations());
}

} // namespace
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