Function writeImagesText

src/parsers/colmapTextWriters.ts:33–86

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

}

export function writeImagesText(
  images: Map<ImageId, Image>,
  wasmReconstruction?: WasmReconstructionWrapper | null
): string {
  const lines: string[] = [];

  const getPoints2D = (img: Image): Point2D[] => {
    if (img.points2D.length > 0) return img.points2D;
    if (wasmReconstruction) {
      return wasmReconstruction.getImagePoints2DArray(img.imageId);
    }
    return [];
  };

  let totalObs = 0;
  for (const img of images.values()) {
    const points2D = getPoints2D(img);
    totalObs += points2D.filter((p) => p.point3DId !== UNMATCHED_POINT3D_ID).length;
  }
  const meanObs = images.size > 0 ? (totalObs / images.size).toFixed(6) : '0';

  lines.push('# Image list with two lines of data per image:');
  lines.push('#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME');
  lines.push('#   POINTS2D[] as (X, Y, POINT3D_ID)');
  lines.push(`# Number of images: ${images.size}, mean observations per image: ${meanObs}`);

  for (const imageId of sortedKeys(images)) {
    const img = images.get(imageId)!;
    const [qw, qx, qy, qz] = img.qvec;
    const [tx, ty, tz] = img.tvec;
    lines.push(
      [
        imageId,
        formatDouble(qw),
        formatDouble(qx),
        formatDouble(qy),
        formatDouble(qz),
        formatDouble(tx),
        formatDouble(ty),
        formatDouble(tz),
        img.cameraId,
        img.name,
      ].join(' ')
    );

    const points2D = getPoints2D(img);
    const points2DStr = points2D
      .map((p) => `${formatDouble(p.xy[0])} ${formatDouble(p.xy[1])} ${toTextPoint3DId(p.point3DId)}`)
      .join(' ');
    lines.push(points2DStr);
  }

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

export function writePoints3DText(points3D: Map<Point3DId, Point3D>): string {
  const lines: string[] = [];