Function TEST

deps/glomap/glomap/controllers/global_mapper_test.cc:53–84

}

TEST(GlobalMapper, WithoutNoise) {
  const std::string database_path = colmap::CreateTestDir() + "/database.db";

  colmap::Database database(database_path);
  colmap::Reconstruction gt_reconstruction;
  colmap::SyntheticDatasetOptions synthetic_dataset_options;
  synthetic_dataset_options.num_cameras = 2;
  synthetic_dataset_options.num_images = 7;
  synthetic_dataset_options.num_points3D = 50;
  synthetic_dataset_options.point2D_stddev = 0;
  colmap::SynthesizeDataset(
      synthetic_dataset_options, &gt_reconstruction, &database);

  ViewGraph view_graph;
  std::unordered_map<camera_t, Camera> cameras;
  std::unordered_map<image_t, Image> images;
  std::unordered_map<track_t, Track> tracks;

  ConvertDatabaseToGlomap(database, view_graph, cameras, images);

  GlobalMapper global_mapper(CreateTestOptions());
  global_mapper.Solve(database, view_graph, cameras, images, tracks);

  colmap::Reconstruction reconstruction;
  ConvertGlomapToColmap(cameras, images, tracks, reconstruction);

  ExpectEqualReconstructions(gt_reconstruction,
                             reconstruction,
                             /*max_rotation_error_deg=*/1e-2,
                             /*max_proj_center_error=*/1e-4,
                             /*num_obs_tolerance=*/0);
}

TEST(GlobalMapper, WithNoiseAndOutliers) {
  const std::string database_path = colmap::CreateTestDir() + "/database.db";