Function writeFramesText

src/parsers/colmapTextWriters.ts:159–195

(frames: Map<FrameId, Frame>)

}

export function writeFramesText(frames: Map<FrameId, Frame>): string {
  const lines: string[] = [];

  lines.push('# Frame list with one line of data per frame');
  lines.push('# FRAME_ID, RIG_ID, QW, QX, QY, QZ, TX, TY, TZ, NUM_DATA_IDS');
  lines.push('# SENSOR_TYPE, SENSOR_ID, DATA_ID');
  lines.push(`# Number of frames: ${frames.size}`);

  for (const frameId of sortedKeys(frames)) {
    const frame = frames.get(frameId)!;
    const [qw, qx, qy, qz] = frame.rigFromWorld.qvec;
    const [tx, ty, tz] = frame.rigFromWorld.tvec;

    lines.push(
      [
        frameId,
        frame.rigId,
        formatDouble(qw),
        formatDouble(qx),
        formatDouble(qy),
        formatDouble(qz),
        formatDouble(tx),
        formatDouble(ty),
        formatDouble(tz),
        frame.dataIds.length,
      ].join(' ')
    );

    for (const dataMapping of frame.dataIds) {
      lines.push(
        `${dataMapping.sensorId.type} ${dataMapping.sensorId.id} ${dataMapping.dataId}`
      );
    }
  }

  return lines.join('\n') + '\n';
}