Function parseFramesText

src/parsers/frames.ts:85–164

(text: string)

 * 0 3 3
 */
export function parseFramesText(text: string): Map<number, Frame> {
  const frames = new Map<number, Frame>();
  const lines = text.split('\n');

  let i = 0;
  while (i < lines.length) {
    const line = lines[i].trim();
    i++;

    // Skip comments and empty lines
    if (line.startsWith('#') || line === '') continue;

    const parts = line.split(/\s+/);
    if (parts.length < 10) continue;

    // Parse frame header: FRAME_ID, RIG_ID, QW, QX, QY, QZ, TX, TY, TZ, NUM_DATA_IDS
    const frameId = parseColmapIntegerToken(parts[0], { min: 0 });
    const rigId = parseColmapIntegerToken(parts[1], { min: 0 });
    const qvecValues = parseColmapNumberTokens(parts.slice(2, 6));
    const tvecValues = parseColmapNumberTokens(parts.slice(6, 9));
    const numDataIds = parseColmapIntegerToken(parts[9], { min: 0 });

    if (frameId === null || rigId === null || qvecValues === null || tvecValues === null || numDataIds === null) {
      continue;
    }

    const rigFromWorld = {
      qvec: [
        qvecValues[0],
        qvecValues[1],
        qvecValues[2],
        qvecValues[3],
      ] as [number, number, number, number],
      tvec: [
        tvecValues[0],
        tvecValues[1],
        tvecValues[2],
      ] as [number, number, number],
    };

    const dataIds: FrameDataMapping[] = [];

    // Read data ID mappings
    for (let j = 0; j < numDataIds && i < lines.length; j++) {
      const dataLine = lines[i].trim();
      i++;

      if (dataLine.startsWith('#') || dataLine === '') {
        j--; // Don't count this line
        continue;
      }

      const dataParts = dataLine.split(/\s+/);
      if (dataParts.length < 3) continue;

      const sensorType = parseColmapIntegerToken(dataParts[0]);
      const sensorId = parseColmapIntegerToken(dataParts[1], { min: 0 });
      const dataId = parseColmapIntegerToken(dataParts[2], { min: 0 });