Function assertIntegrity

src/parsers/integrity.test.ts:72–87

* The core integrity check pycolmap implicitly performs: for every points3D * track element (image_id, point2D_idx), the referenced image must exist and * have at least `point2D_idx + 1` entries in its points2D array.

(images: Map<number, Image>, points3D: Map<bigint, Point3D>)

 * have at least `point2D_idx + 1` entries in its points2D array.
 */
function assertIntegrity(images: Map<number, Image>, points3D: Map<bigint, Point3D>): void {
  for (const [pointId, point] of points3D) {
    for (const elem of point.track) {
      const img = images.get(elem.imageId);
      if (!img) {
        throw new Error(`point3D ${pointId}: track references missing image_id=${elem.imageId}`);
      }
      if (elem.point2DIdx >= img.points2D.length) {
        throw new Error(
          `point3D ${pointId}: track element image_id=${elem.imageId} point2D_idx=${elem.point2DIdx} ` +
            `out of range (image has ${img.points2D.length} points2D)`,
        );
      }
    }
  }
}

const missingFixture = !hasSparseBinaryFixture(BIN) || !existsSync(WASM_JS) || !existsSync(WASM_BIN);