Function read_colmap_bin_array

scene/colmap_loader.py:273–294

Taken from https://github.com/colmap/colmap/blob/dev/scripts/python/read_dense.py :param path: path to the colmap binary file. :return: nd array with the floating point values in the value

(path)

def read_colmap_bin_array(path):
    """
    Taken from https://github.com/colmap/colmap/blob/dev/scripts/python/read_dense.py

    :param path: path to the colmap binary file.
    :return: nd array with the floating point values in the value
    """
    with open(path, "rb") as fid:
        width, height, channels = np.genfromtxt(fid, delimiter="&", max_rows=1,
                                                usecols=(0, 1, 2), dtype=int)
        fid.seek(0)
        num_delimiter = 0
        byte = fid.read(1)
        while True:
            if byte == b"&":
                num_delimiter += 1
                if num_delimiter >= 3:
                    break
            byte = fid.read(1)
        array = np.fromfile(fid, np.float32)
    array = array.reshape((width, height, channels), order="F")
    return np.transpose(array, (1, 0, 2)).squeeze()