Function parseFramesBinary

src/parsers/frames.ts:24–71

(buffer: ArrayBuffer)

 *     - uint64: data_id (image ID for camera sensors)
 */
export function parseFramesBinary(buffer: ArrayBuffer): Map<number, Frame> {
  const reader = new BinaryReader(buffer);
  const frames = new Map<number, Frame>();

  const numFrames = reader.readUint64AsNumber();

  for (let i = 0; i < numFrames; i++) {
    const frameId = reader.readUint32();
    const rigId = reader.readUint32();

    // Read rig_from_world pose: qw, qx, qy, qz, tx, ty, tz
    const qw = reader.readFloat64();
    const qx = reader.readFloat64();
    const qy = reader.readFloat64();
    const qz = reader.readFloat64();
    const tx = reader.readFloat64();
    const ty = reader.readFloat64();
    const tz = reader.readFloat64();

    const rigFromWorld = {
      qvec: [qw, qx, qy, qz] as [number, number, number, number],
      tvec: [tx, ty, tz] as [number, number, number],
    };

    const numDataIds = reader.readUint32();
    const dataIds: FrameDataMapping[] = [];

    for (let j = 0; j < numDataIds; j++) {
      const sensorType = parseSensorType(reader.readInt32(), `binary frame ${frameId} data id ${j}`);
      const sensorId = reader.readUint32();
      const dataId = reader.readUint64AsNumber();

      dataIds.push({
        sensorId: { type: sensorType, id: sensorId },
        dataId,
      });
    }

    frames.set(frameId, {
      frameId,
      rigId,
      rigFromWorld,
      dataIds,
    });
  }

  return frames;
}

/**
 * Parse frames.txt text file