Function writeRigsText

src/parsers/colmapTextWriters.ts:125–157

(rigs: Map<RigId, Rig>)

}

export function writeRigsText(rigs: Map<RigId, Rig>): string {
  const lines: string[] = [];

  lines.push('# Rig list with one line per sensor');
  lines.push('# RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID');
  lines.push('# SENSOR_TYPE, SENSOR_ID, HAS_POSE[, QW, QX, QY, QZ, TX, TY, TZ]');
  lines.push(`# Number of rigs: ${rigs.size}`);

  for (const rigId of sortedKeys(rigs)) {
    const rig = rigs.get(rigId)!;
    const refSensorType = rig.refSensorId?.type ?? 0;
    const refSensorId = rig.refSensorId?.id ?? 0;

    lines.push(`${rigId} ${rig.sensors.length} ${refSensorType} ${refSensorId}`);

    for (let i = 1; i < rig.sensors.length; i++) {
      const sensor = rig.sensors[i];
      const hasPose = sensor.hasPose ? 1 : 0;

      if (sensor.hasPose && sensor.pose) {
        const [qw, qx, qy, qz] = sensor.pose.qvec;
        const [tx, ty, tz] = sensor.pose.tvec;
        lines.push(
          `${sensor.sensorId.type} ${sensor.sensorId.id} ${hasPose} ${formatDouble(qw)} ${formatDouble(qx)} ${formatDouble(qy)} ${formatDouble(qz)} ${formatDouble(tx)} ${formatDouble(ty)} ${formatDouble(tz)}`
        );
      } else {
        lines.push(`${sensor.sensorId.type} ${sensor.sensorId.id} ${hasPose}`);
      }
    }
  }

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

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