see: src/colmap/scene/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path)
(path_to_model_file)
| 387 | |
| 388 | |
| 389 | def read_points3D_binary(path_to_model_file): |
| 390 | """ |
| 391 | see: src/colmap/scene/reconstruction.cc |
| 392 | void Reconstruction::ReadPoints3DBinary(const std::string& path) |
| 393 | void Reconstruction::WritePoints3DBinary(const std::string& path) |
| 394 | """ |
| 395 | points3D = {} |
| 396 | with open(path_to_model_file, "rb") as fid: |
| 397 | num_points = read_next_bytes(fid, 8, "Q")[0] |
| 398 | for _ in range(num_points): |
| 399 | binary_point_line_properties = read_next_bytes( |
| 400 | fid, num_bytes=43, format_char_sequence="QdddBBBd" |
| 401 | ) |
| 402 | point3D_id = binary_point_line_properties[0] |
| 403 | xyz = np.array(binary_point_line_properties[1:4]) |
| 404 | rgb = np.array(binary_point_line_properties[4:7]) |
| 405 | error = np.array(binary_point_line_properties[7]) |
| 406 | track_length = read_next_bytes( |
| 407 | fid, num_bytes=8, format_char_sequence="Q" |
| 408 | )[0] |
| 409 | track_elems = read_next_bytes( |
| 410 | fid, |
| 411 | num_bytes=8 * track_length, |
| 412 | format_char_sequence="ii" * track_length, |
| 413 | ) |
| 414 | image_ids = np.array(tuple(map(int, track_elems[0::2]))) |
| 415 | point2D_idxs = np.array(tuple(map(int, track_elems[1::2]))) |
| 416 | points3D[point3D_id] = Point3D( |
| 417 | id=point3D_id, |
| 418 | xyz=xyz, |
| 419 | rgb=rgb, |
| 420 | error=error, |
| 421 | image_ids=image_ids, |
| 422 | point2D_idxs=point2D_idxs, |
| 423 | ) |
| 424 | return points3D |
| 425 | |
| 426 | |
| 427 | def write_points3D_text(points3D, path): |
no test coverage detected