Function read_images_binary

utils/read_write_model.py:247–293

see: src/colmap/scene/reconstruction.cc void Reconstruction::ReadImagesBinary(const std::string& path) void Reconstruction::WriteImagesBinary(const std::string& path)

(path_to_model_file)

def read_images_binary(path_to_model_file):
    """
    see: src/colmap/scene/reconstruction.cc
        void Reconstruction::ReadImagesBinary(const std::string& path)
        void Reconstruction::WriteImagesBinary(const std::string& path)
    """
    images = {}
    with open(path_to_model_file, "rb") as fid:
        num_reg_images = read_next_bytes(fid, 8, "Q")[0]
        for _ in range(num_reg_images):
            binary_image_properties = read_next_bytes(
                fid, num_bytes=64, format_char_sequence="idddddddi"
            )
            image_id = binary_image_properties[0]
            qvec = np.array(binary_image_properties[1:5])
            tvec = np.array(binary_image_properties[5:8])
            camera_id = binary_image_properties[8]
            image_name = ""
            current_char = read_next_bytes(fid, 1, "c")[0]
            while current_char != b"\x00":  # look for the ASCII 0 entry
                image_name += current_char.decode("utf-8")
                current_char = read_next_bytes(fid, 1, "c")[0]
            num_points2D = read_next_bytes(
                fid, num_bytes=8, format_char_sequence="Q"
            )[0]
            x_y_id_s = read_next_bytes(
                fid,
                num_bytes=24 * num_points2D,
                format_char_sequence="ddq" * num_points2D,
            )
            xys = np.column_stack(
                [
                    tuple(map(float, x_y_id_s[0::3])),
                    tuple(map(float, x_y_id_s[1::3])),
                ]
            )
            point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3])))
            images[image_id] = Image(
                id=image_id,
                qvec=qvec,
                tvec=tvec,
                camera_id=camera_id,
                name=image_name,
                xys=xys,
                point3D_ids=point3D_ids,
            )
    return images


def write_images_text(images, path):