Function writePoints3DBinary

src/parsers/colmapBinaryWriters.ts:81–106

(points3D: Map<Point3DId, Point3D>)

 * Write points3D.bin.
 */
export function writePoints3DBinary(points3D: Map<Point3DId, Point3D>): ArrayBuffer {
  const writer = new BinaryWriter();

  writer.writeUint64FromNumber(points3D.size);

  for (const point3DId of sortedKeys(points3D)) {
    const pt = points3D.get(point3DId)!;

    writer.writeUint64(point3DId);
    writer.writeFloat64(pt.xyz[0]);
    writer.writeFloat64(pt.xyz[1]);
    writer.writeFloat64(pt.xyz[2]);
    writer.writeUint8(pt.rgb[0]);
    writer.writeUint8(pt.rgb[1]);
    writer.writeUint8(pt.rgb[2]);
    writer.writeFloat64(pt.error);

    writer.writeUint64FromNumber(pt.track.length);
    for (const trackEl of pt.track) {
      writer.writeUint32(trackEl.imageId);
      writer.writeUint32(trackEl.point2DIdx);
    }
  }

  return writer.toArrayBuffer();
}

/**
 * Write rigs.bin.