see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path)
(path_to_model_file)
| 125 | |
| 126 | |
| 127 | def read_points3D_binary(path_to_model_file): |
| 128 | """ |
| 129 | see: src/base/reconstruction.cc |
| 130 | void Reconstruction::ReadPoints3DBinary(const std::string& path) |
| 131 | void Reconstruction::WritePoints3DBinary(const std::string& path) |
| 132 | """ |
| 133 | |
| 134 | |
| 135 | with open(path_to_model_file, "rb") as fid: |
| 136 | num_points = read_next_bytes(fid, 8, "Q")[0] |
| 137 | |
| 138 | xyzs = np.empty((num_points, 3)) |
| 139 | rgbs = np.empty((num_points, 3)) |
| 140 | errors = np.empty((num_points, 1)) |
| 141 | |
| 142 | for p_id in range(num_points): |
| 143 | binary_point_line_properties = read_next_bytes( |
| 144 | fid, num_bytes=43, format_char_sequence="QdddBBBd") |
| 145 | xyz = np.array(binary_point_line_properties[1:4]) |
| 146 | rgb = np.array(binary_point_line_properties[4:7]) |
| 147 | error = np.array(binary_point_line_properties[7]) |
| 148 | track_length = read_next_bytes( |
| 149 | fid, num_bytes=8, format_char_sequence="Q")[0] |
| 150 | track_elems = read_next_bytes( |
| 151 | fid, num_bytes=8*track_length, |
| 152 | format_char_sequence="ii"*track_length) |
| 153 | xyzs[p_id] = xyz |
| 154 | rgbs[p_id] = rgb |
| 155 | errors[p_id] = error |
| 156 | return xyzs, rgbs, errors |
| 157 | |
| 158 | |
| 159 | def read_intrinsics_text(path): |
no test coverage detected