Function TEST

src/colmap/estimators/alignment_test.cc:68–100

}

TEST(Alignment, AlignReconstructionToLocations) {
  Reconstruction src_reconstruction = GenerateReconstructionForAlignment();
  Reconstruction tgt_reconstruction = src_reconstruction;

  Sim3d gt_tgt_from_src = TestSim3d();
  tgt_reconstruction.Transform(gt_tgt_from_src);

  std::vector<std::string> tgt_image_names;
  std::vector<Eigen::Vector3d> tgt_image_locations;
  for (const auto& [_, image] : tgt_reconstruction.Images()) {
    tgt_image_names.push_back(image.Name());
    tgt_image_locations.push_back(image.ProjectionCenter());
  }

  RANSACOptions ransac_options;
  ransac_options.max_error = 1e-2;

  Sim3d tgt_from_src;
  ASSERT_FALSE(AlignReconstructionToLocations(
      src_reconstruction,
      tgt_image_names,
      tgt_image_locations,
      /*min_common_images=*/tgt_image_names.size() + 1,
      ransac_options,
      &tgt_from_src));
  ASSERT_TRUE(AlignReconstructionToLocations(src_reconstruction,
                                             tgt_image_names,
                                             tgt_image_locations,
                                             /*min_common_images=*/3,
                                             ransac_options,
                                             &tgt_from_src));
  ExpectEqualSim3d(gt_tgt_from_src, tgt_from_src);
}

TEST(Alignment, AlignReconstructionToPosePriors) {
  Reconstruction src_reconstruction = GenerateReconstructionForAlignment();