Function colmapSave

SIBR_viewers/src/core/scene/ParseData.cpp:317–365

	}

	void colmapSave(const std::string& filename, const std::vector<InputCamera::Ptr>& xformPath, float scale) {
		// save as colmap images.txt file
		sibr::Matrix3f converter;
		converter << 1, 0, 0,
			0, -1, 0,
			0, 0, -1;

		std::ofstream outputColmapPath, outputColmapPathCams;
		std::string colmapPathCams = parentDirectory(filename) + std::string("/cameras.txt");

		std::cerr << std::endl;
		std::cerr << std::endl;
		std::cerr << "Writing colmap path to " << parentDirectory(filename) << std::endl;

		outputColmapPath.open(filename);
		if (!outputColmapPath.good())
			SIBR_ERR << "Cant open output file " << filename << std::endl;
		outputColmapPathCams.open(colmapPathCams);

		outputColmapPathCams << "# Camera list with one line of data per camera:" << std::endl;
		outputColmapPathCams << "#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]" << std::endl;
		outputColmapPathCams << "# Number of cameras: " << xformPath.size() << std::endl;

		SIBR_WRG << "No focal x given making it equal to focaly * aspect ratio; use result at own risk. Should have a colmap dataset as input" << std::endl;

		for (int i = 0; i < xformPath.size(); i++) {
			float focalx = xformPath[i]->focal() * xformPath[i]->aspect(); // use aspect ratio
			outputColmapPathCams << i + 1 << " PINHOLE " << xformPath[i]->w() * scale << " " << xformPath[i]->h() * scale
				<< " " << xformPath[i]->focal() * scale << " " << focalx * scale
				<< " " << xformPath[i]->w() * scale * 0.5 << " " << xformPath[i]->h() * scale * 0.5 << std::endl;
		}


		outputColmapPath << "# Image list with two lines of data per image:" << std::endl;
		outputColmapPath << "#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME" << std::endl;
		outputColmapPath << "#   POINTS2D[] as (X, Y, POINT3D_ID)" << std::endl;
		for (int i = 0; i < xformPath.size(); i++) {
			sibr::Matrix3f tmp = xformPath[i]->rotation().toRotationMatrix() * converter;
			sibr::Matrix3f Qinv = tmp.transpose();
			sibr::Quaternionf q = quatFromMatrix(Qinv);
			sibr::Vector3f t = -Qinv * xformPath[i]->position();

			outputColmapPath << (i + 1) << " " << q.w() << " " << -q.x() << " " << -q.y() << " " << -q.z() << " " <<
				t.x() << " " << t.y() << " " << t.z() << " " << (i + 1) << " " << xformPath[i]->name() << std::endl;
			outputColmapPath << std::endl; // empty line, no points
		}
		outputColmapPath.close();
		outputColmapPathCams.close();
	}

	void ParseData::getParsedChunkedData(const std::string& dataset_path)
	{