code: def _load_images_txt(self, input_file):
      self.images = OrderedDict()
  
      with open(input_file, "r") as f:
          is_camera_description_line = False
  
          for line in iter(lambda: f.readline().strip(), ""):
              if not line or line.startswith("#"):
                  continue
  
              is_camera_description_line = (
                  not is_camera_description_line
              )
  
              data = line.split()
  
              if is_camera_description_line:
                  image_id = int(data[0])
                  image = Image(
                      data[-1],
                      int(data[-2]),
                      Quaternion(np.array(list(map(float, data[1:5])))),
                      np.array(list(map(float, data[5:8]))),
                  )
              else:
                  image.points2D = np.array(
                      [
                          list(map(float, data[::3])),
                          list(map(float, data[1::3])),
                      ]
                  ).T
                  image.point3D_ids = np.array(
                      list(map(np.uint64, data[2::3]))
                  )
  
                  # automatically remove points without an associated 3D point
                  # mask = (image.point3D_ids != SceneManager.INVALID_POINT3D)
                  # image.points2D = image.points2D[mask]
                  # image.point3D_ids = image.point3D_ids[mask]
  
                  self.images[image_id] = image
                  self.name_to_image_id[image.name] = image_id
  
                  self.last_image_id = max(self.last_image_id, image_id)
  
imports: from collections import OrderedDict, defaultdict
  from io import StringIO
  from itertools import combinations
  import os
  import struct
  from .camera import Camera
  from .image import Image
  import numpy
  from .rotation import Quaternion
label_desc: Use image node_id 9 for calling the SceneManager obj's underlying member method code with example usage: obj._load_images_txt(input_file) without return types