Test coverage for previously uncovered methods including getters
(Reconstruction, Triangulator, ObservationManager, FilteredFrames,
ExistingFrameIds, NumRegFramesPerRig, NumRegImagesPerCamera),
EndReconstruction with discard, EstimateInitialTwoViewGeometry,
modified points tracking, full reconstruction pipeline, local
bundle finding, and initialization stats reset.

- EstimateInitialTwoViewGeometry: verify non-trivial translation
- ModifiedPoints3D: check registration counts, verify modified point IDs
  exist in reconstruction
- FindLocalBundle: use ASSERT for preconditions, verify bundle size bounds
  and that all bundle images are registered
- ResetInitializationStats: use ASSERT, verify both calls find valid pairs

Extract shared setup into IncrementalMapperTest fixture:
- SetUp: database, synthetic dataset, cache, mapper, reconstruction
- TearDown: automatic EndReconstruction cleanup
- Helper methods: FindAndRegisterInitialPair, TriangulateInitialPair,
  RegisterAllRemainingImages
Reduces ~100 lines of boilerplate across 7 tests.

…h/incremental-mapper-test

ahojnnes deleted the user/jsch/incremental-mapper-test branch

March 5, 2026 08:00