Function parseRigsText

src/parsers/rigs.ts:99–196

(text: string)

 * 0 3 1 0.7 0.0 0.7 0.0 -1.0 0.0 0.0
 */
export function parseRigsText(text: string): Map<number, Rig> {
  const rigs = new Map<number, Rig>();
  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 < 4) continue;

    // Parse rig header: RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID
    const rigId = parseColmapIntegerToken(parts[0], { min: 0 });
    const numSensors = parseColmapIntegerToken(parts[1], { min: 0 });
    const refSensorTypeValue = parseColmapIntegerToken(parts[2]);
    const refSensorIdValue = parseColmapIntegerToken(parts[3], { min: 0 });

    if (rigId === null || numSensors === null || refSensorTypeValue === null || refSensorIdValue === null) {
      continue;
    }

    const refSensorType = parseSensorType(refSensorTypeValue, `text rig ${rigId} reference sensor`);
    const refSensorId: SensorId = {
      type: refSensorType,
      id: refSensorIdValue,
    };

    const sensors: RigSensor[] = [];

    // Add reference sensor with identity pose
    sensors.push({
      sensorId: refSensorId,
      hasPose: false,
    });

    // Read additional sensors (num_sensors - 1 lines)
    for (let j = 1; j < numSensors && i < lines.length; j++) {
      const sensorLine = lines[i].trim();
      i++;

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

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

      const sensorTypeValue = parseColmapIntegerToken(sensorParts[0]);
      const sensorId = parseColmapIntegerToken(sensorParts[1], { min: 0 });
      const hasPoseValue = parseColmapIntegerToken(sensorParts[2], { min: 0 });

      if (sensorTypeValue === null || sensorId === null || hasPoseValue === null) continue;