Function parsePoints3DBinary

src/parsers/points3d.ts:25–61

(buffer: ArrayBuffer)

 *     - uint32: point2D_idx
 */
export function parsePoints3DBinary(buffer: ArrayBuffer): Map<bigint, Point3D> {
  const reader = new BinaryReader(buffer);
  const points = new Map<bigint, Point3D>();

  const numPoints = reader.readUint64AsNumber();

  for (let i = 0; i < numPoints; i++) {
    const point3DId = reader.readUint64();

    const xyz: [number, number, number] = [
      reader.readFloat64(),
      reader.readFloat64(),
      reader.readFloat64(),
    ];

    const rgb: [number, number, number] = [
      reader.readUint8(),
      reader.readUint8(),
      reader.readUint8(),
    ];

    const error = reader.readFloat64();
    const trackLength = reader.readUint64AsNumber();

    const track: TrackElement[] = [];
    for (let j = 0; j < trackLength; j++) {
      track.push({
        imageId: reader.readUint32(),
        point2DIdx: reader.readUint32(),
      });
    }

    points.set(point3DId, { point3DId, xyz, rgb, error, track });
  }

  return points;
}

/**
 * Parse points3D.txt text file