Function writeRigsBinary

src/parsers/colmapBinaryWriters.ts:111–148

(rigs: Map<RigId, Rig>)

 * Write rigs.bin.
 */
export function writeRigsBinary(rigs: Map<RigId, Rig>): ArrayBuffer {
  const writer = new BinaryWriter();

  writer.writeUint64FromNumber(rigs.size);

  for (const rigId of sortedKeys(rigs)) {
    const rig = rigs.get(rigId)!;

    writer.writeUint32(rigId);
    writer.writeUint32(rig.sensors.length);

    if (rig.sensors.length > 0) {
      const refSensorType = rig.refSensorId?.type ?? 0;
      const refSensorId = rig.refSensorId?.id ?? 0;
      writer.writeInt32(refSensorType);
      writer.writeUint32(refSensorId);

      for (let i = 1; i < rig.sensors.length; i++) {
        const sensor = rig.sensors[i];
        writer.writeInt32(sensor.sensorId.type);
        writer.writeUint32(sensor.sensorId.id);
        writer.writeUint8(sensor.hasPose ? 1 : 0);

        if (sensor.hasPose && sensor.pose) {
          writer.writeFloat64(sensor.pose.qvec[0]);
          writer.writeFloat64(sensor.pose.qvec[1]);
          writer.writeFloat64(sensor.pose.qvec[2]);
          writer.writeFloat64(sensor.pose.qvec[3]);
          writer.writeFloat64(sensor.pose.tvec[0]);
          writer.writeFloat64(sensor.pose.tvec[1]);
          writer.writeFloat64(sensor.pose.tvec[2]);
        }
      }
    }
  }

  return writer.toArrayBuffer();
}

/**
 * Write frames.bin.