load_points3d.py

import numpy as np

def load_colmap_sparse_points(points3d_path):
  '''Load COLMAP points3D.txt as numpy array
  '''
  with open(points3d_path, 'r') as f:
    points_txt = f.readlines()[3:]

  n_points = len(points_txt)
  points_np = np.zeros([n_points, 6])

  for pid, point in enumerate(points_txt):
    
    xyz = np.asarray(point.split(' ')[1:4], dtype='float')
    rgb = np.asarray(point.split(' ')[4:7], dtype='int')  / 255
    points_np[pid, 0:3] = xyz
    points_np[pid, 3:6] = rgb

  return points_np