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Improve bundle adjustment test coverage#4172

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ahojnnes merged 2 commits into
maincolmap/colmap:mainfrom
user/jsch/ba-test-covcolmap/colmap:user/jsch/ba-test-covCopy head branch name to clipboard
Mar 4, 2026
Merged

Improve bundle adjustment test coverage#4172
ahojnnes merged 2 commits into
maincolmap/colmap:mainfrom
user/jsch/ba-test-covcolmap/colmap:user/jsch/ba-test-covCopy head branch name to clipboard

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@ahojnnes

@ahojnnes ahojnnes commented Mar 3, 2026

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gemini-code-assist Bot commented Mar 3, 2026

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Summary of Changes

Hello, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly enhances the test coverage for the bundle adjustment module. It introduces a suite of new unit tests for the BundleAdjustmentConfig class, validating the behavior of its image, camera intrinsic, rig pose, and point management functionalities. Additionally, a test for the BundleAdjustmentSummary's reporting capability has been added, contributing to the robustness and reliability of the bundle adjustment process.

Highlights

  • Expanded BundleAdjustmentConfig Tests: Added new unit tests for various BundleAdjustmentConfig methods, including AddRemoveImage, SetConstantCamIntrinsics, SetVariableCamIntrinsics, SetConstantSensorFromRigPose, SetVariableSensorFromRigPose, SetConstantRigFromWorldPose, SetVariableRigFromWorldPose, AddVariablePoint, AddConstantPoint, RemoveVariablePoint, RemoveConstantPoint, IgnorePoint, FixGauge, and Images.
  • BundleAdjustmentSummary Test: Included a new test case for BundleAdjustmentSummary::BriefReport to verify its output.
Changelog
  • src/colmap/estimators/bundle_adjustment_test.cc
    • Added new tests for BundleAdjustmentConfig::AddRemoveImage
    • Added new tests for BundleAdjustmentConfig::SetConstantCamIntrinsics and SetVariableCamIntrinsics
    • Added new tests for BundleAdjustmentConfig::SetConstantSensorFromRigPose and SetVariableSensorFromRigPose
    • Added new tests for BundleAdjustmentConfig::SetConstantRigFromWorldPose and SetVariableRigFromWorldPose
    • Added new tests for BundleAdjustmentConfig::AddVariablePoint, AddConstantPoint, RemoveVariablePoint, and RemoveConstantPoint
    • Added new tests for BundleAdjustmentConfig::IgnorePoint
    • Added new tests for BundleAdjustmentConfig::FixGauge
    • Added new tests for BundleAdjustmentConfig::Images
    • Added new tests for BundleAdjustmentSummary::BriefReport
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  • No activity has been recorded for this pull request yet.
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gemini-code-assist Bot reviewed Mar 3, 2026
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Code Review

This pull request adds a comprehensive set of unit tests for BundleAdjustmentConfig and BundleAdjustmentSummary, significantly improving test coverage. The new tests cover functionalities like adding/removing images, managing constant/variable parameters for camera intrinsics, sensor poses, rig poses, and points, as well as gauge fixing and summary reporting. My review focuses on ensuring the new tests are robust and consistent. I've suggested minor improvements to two of the tests to make them more thorough by verifying the content of collections, not just their size, which aligns with the pattern used in other tests within this PR.

Comment thread src/colmap/estimators/bundle_adjustment_test.cc
Comment thread src/colmap/estimators/bundle_adjustment_test.cc
@ahojnnes
ahojnnes merged commit ca4951e into main Mar 4, 2026
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@ahojnnes
ahojnnes deleted the user/jsch/ba-test-cov branch March 4, 2026 11:02
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Reviewers

@lpanaf lpanaf lpanaf approved these changes
@sarlinpe sarlinpe Awaiting requested review from sarlinpe
@B1ueber2y B1ueber2y Awaiting requested review from B1ueber2y
+1 more reviewer
@gemini-code-assist gemini-code-assist[bot] gemini-code-assist[bot] left review comments
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