Module: Gsplat::IO::ColmapBinary

Defined in:
lib/gsplat/io/colmap_binary.rb

Overview

Decoder for COLMAP sparse-model binary files.

Defined Under Namespace

Classes: Cursor

Constant Summary collapse

CAMERA_PARAM_COUNTS = 
{
  0 => 3, 1 => 4, 2 => 4, 3 => 5, 4 => 8, 5 => 8,
  6 => 12, 7 => 5, 8 => 4, 9 => 5, 10 => 12
}.freeze

Class Method Summary collapse

Class Method Details

.cameras(data) ⇒ Object 



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# File 'lib/gsplat/io/colmap_binary.rb', line 43

def cameras(data)
  cursor = Cursor.new(data)
  Array.new(cursor.scalar("Q<", 8)).to_h do
    id = cursor.scalar("l<", 4)
    model = cursor.scalar("l<", 4)
    count = CAMERA_PARAM_COUNTS.fetch(model) do
      raise NotSupportedError, "unknown COLMAP camera model id #{model}"
    end
    width = cursor.scalar("Q<", 8)
    height = cursor.scalar("Q<", 8)
    [id, { id: id, model: model, width: width, height: height, params: cursor.array("E", 8, count) }]
  end
end

.images(data) ⇒ Object 



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# File 'lib/gsplat/io/colmap_binary.rb', line 57

def images(data)
  cursor = Cursor.new(data)
  Array.new(cursor.scalar("Q<", 8)).to_h do
    id = cursor.scalar("l<", 4)
    qvec = cursor.array("E", 8, 4)
    tvec = cursor.array("E", 8, 3)
    camera_id = cursor.scalar("l<", 4)
    name = cursor.cstring
    count = cursor.scalar("Q<", 8)
    points2d, point3d_ids = image_points(cursor, count)
    [id, { id: id, qvec: qvec, tvec: tvec, camera_id: camera_id, name: name,
           points2d: points2d, point3d_ids: point3d_ids }]
  end
end

.points3d(data) ⇒ Object 



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# File 'lib/gsplat/io/colmap_binary.rb', line 72

def points3d(data)
  cursor = Cursor.new(data)
  Array.new(cursor.scalar("Q<", 8)).to_h do
    id = cursor.scalar("Q<", 8)
    xyz = cursor.array("E", 8, 3)
    rgb = cursor.array("C", 1, 3)
    error = cursor.scalar("E", 8)
    track_count = cursor.scalar("Q<", 8)
    track = Array.new(track_count) { [cursor.scalar("l<", 4), cursor.scalar("l<", 4)] }
    [id, { id: id, xyz: xyz, rgb: rgb, error: error, track: track }]
  end
end