Function writeFramesBinary

src/parsers/colmapBinaryWriters.ts:153–180

(frames: Map<FrameId, Frame>)

 * Write frames.bin.
 */
export function writeFramesBinary(frames: Map<FrameId, Frame>): ArrayBuffer {
  const writer = new BinaryWriter();

  writer.writeUint64FromNumber(frames.size);

  for (const frameId of sortedKeys(frames)) {
    const frame = frames.get(frameId)!;

    writer.writeUint32(frameId);
    writer.writeUint32(frame.rigId);
    writer.writeFloat64(frame.rigFromWorld.qvec[0]);
    writer.writeFloat64(frame.rigFromWorld.qvec[1]);
    writer.writeFloat64(frame.rigFromWorld.qvec[2]);
    writer.writeFloat64(frame.rigFromWorld.qvec[3]);
    writer.writeFloat64(frame.rigFromWorld.tvec[0]);
    writer.writeFloat64(frame.rigFromWorld.tvec[1]);
    writer.writeFloat64(frame.rigFromWorld.tvec[2]);
    writer.writeUint32(frame.dataIds.length);

    for (const dataMapping of frame.dataIds) {
      writer.writeInt32(dataMapping.sensorId.type);
      writer.writeUint32(dataMapping.sensorId.id);
      writer.writeUint64FromNumber(dataMapping.dataId);
    }
  }

  return writer.toArrayBuffer();
}