Function writeImagesBinary

src/parsers/colmapBinaryWriters.ts:40–76

(
  images: Map<ImageId, Image>,
  wasmReconstruction?: WasmReconstructionWrapper | null
)

 * Write images.bin.
 */
export function writeImagesBinary(
  images: Map<ImageId, Image>,
  wasmReconstruction?: WasmReconstructionWrapper | null
): ArrayBuffer {
  const writer = new BinaryWriter();

  writer.writeUint64FromNumber(images.size);

  for (const imageId of sortedKeys(images)) {
    const img = images.get(imageId)!;

    writer.writeUint32(imageId);
    writer.writeFloat64(img.qvec[0]);
    writer.writeFloat64(img.qvec[1]);
    writer.writeFloat64(img.qvec[2]);
    writer.writeFloat64(img.qvec[3]);
    writer.writeFloat64(img.tvec[0]);
    writer.writeFloat64(img.tvec[1]);
    writer.writeFloat64(img.tvec[2]);
    writer.writeUint32(img.cameraId);
    writer.writeString(img.name);

    let points2D: Point2D[] = img.points2D;
    if (points2D.length === 0 && wasmReconstruction) {
      points2D = wasmReconstruction.getImagePoints2DArray(imageId);
    }

    writer.writeUint64FromNumber(points2D.length);
    for (const pt2D of points2D) {
      writer.writeFloat64(pt2D.xy[0]);
      writer.writeFloat64(pt2D.xy[1]);
      writer.writeUint64(toBinaryPoint3DId(pt2D.point3DId));
    }
  }

  return writer.toArrayBuffer();
}

/**
 * Write points3D.bin.