mannually merge from dimatura#9

Author: bearpaw

.gitignore

@@ -5,3 +5,10 @@ build
 .eggs/
 dist
 _build
+bin
+lib
+include
+.Python
+.idea
+pip-selfcheck.json
+.pytest_cache/ 

pypcd/pypcd.py

@@ -12,7 +12,6 @@
 import re
 import struct
 import copy
-import cStringIO as sio
 import numpy as np
 import warnings
 import lzf
@@ -24,6 +23,11 @@
 except ImportError:
     HAS_SENSOR_MSGS = False
 
+try:
+    from io import StringIO as sio
+except:
+    import cStringIO as sio
+
 __all__ = ['PointCloud',
            'point_cloud_to_path',
            'point_cloud_to_buffer',
@@ -91,11 +95,11 @@ def parse_header(lines):
         elif key in ('fields', 'type'):
             metadata[key] = value.split()
         elif key in ('size', 'count'):
-            metadata[key] = map(int, value.split())
+            metadata[key] = list(map(int, value.split()))
         elif key in ('width', 'height', 'points'):
             metadata[key] = int(value)
         elif key == 'viewpoint':
-            metadata[key] = map(float, value.split())
+            metadata[key] = list(map(float, value.split()))
         elif key == 'data':
             metadata[key] = value.strip().lower()
         # TODO apparently count is not required?
@@ -205,9 +209,9 @@ def _build_dtype(metadata):
             fieldnames.append(f)
             typenames.append(np_type)
         else:
-            fieldnames.extend(['%s_%04d' % (f, i) for i in xrange(c)])
+            fieldnames.extend(['%s_%04d' % (f, i) for i in range(c)])
             typenames.extend([np_type]*c)
-    dtype = np.dtype(zip(fieldnames, typenames))
+    dtype = np.dtype(list(zip(fieldnames, typenames)))
     return dtype
 
 
@@ -278,6 +282,8 @@ def point_cloud_from_fileobj(f):
     header = []
     while True:
         ln = f.readline().strip()
+        if not isinstance(ln, str):
+            ln = ln.decode('utf-8')
         header.append(ln)
         if ln.startswith('DATA'):
             metadata = parse_header(header)
@@ -320,13 +326,13 @@ def point_cloud_to_fileobj(pc, fileobj, data_compression=None):
         assert(data_compression in ('ascii', 'binary', 'binary_compressed'))
         metadata['data'] = data_compression
 
-    header = write_header(metadata)
+    header = write_header(metadata).encode('utf-8')
     fileobj.write(header)
     if metadata['data'].lower() == 'ascii':
         fmtstr = build_ascii_fmtstr(pc)
         np.savetxt(fileobj, pc.pc_data, fmt=fmtstr)
     elif metadata['data'].lower() == 'binary':
-        fileobj.write(pc.pc_data.tostring('C'))
+        fileobj.write(pc.pc_data.tostring())
     elif metadata['data'].lower() == 'binary_compressed':
         # TODO
         # a '_' field is ignored by pcl and breakes compressed point clouds.
@@ -335,9 +341,9 @@ def point_cloud_to_fileobj(pc, fileobj, data_compression=None):
         # reorder to column-by-column
         uncompressed_lst = []
         for fieldname in pc.pc_data.dtype.names:
-            column = np.ascontiguousarray(pc.pc_data[fieldname]).tostring('C')
+            column = np.ascontiguousarray(pc.pc_data[fieldname]).tostring()
             uncompressed_lst.append(column)
-        uncompressed = ''.join(uncompressed_lst)
+        uncompressed = b''.join(uncompressed_lst)
         uncompressed_size = len(uncompressed)
         # print("uncompressed_size = %r"%(uncompressed_size))
         buf = lzf.compress(uncompressed)
@@ -357,7 +363,7 @@ def point_cloud_to_fileobj(pc, fileobj, data_compression=None):
 
 
 def point_cloud_to_path(pc, fname):
-    with open(fname, 'w') as f:
+    with open(fname, 'wb') as f:
         point_cloud_to_fileobj(pc, f)
 
 
@@ -370,21 +376,21 @@ def point_cloud_to_buffer(pc, data_compression=None):
 def save_point_cloud(pc, fname):
     """ Save pointcloud to fname in ascii format.
     """
-    with open(fname, 'w') as f:
+    with open(fname, 'wb') as f:
         point_cloud_to_fileobj(pc, f, 'ascii')
 
 
 def save_point_cloud_bin(pc, fname):
     """ Save pointcloud to fname in binary format.
     """
-    with open(fname, 'w') as f:
+    with open(fname, 'wb') as f:
         point_cloud_to_fileobj(pc, f, 'binary')
 
 
 def save_point_cloud_bin_compressed(pc, fname):
     """ Save pointcloud to fname in binary compressed format.
     """
-    with open(fname, 'w') as f:
+    with open(fname, 'wb') as f:
         point_cloud_to_fileobj(pc, f, 'binary_compressed')
 
 
@@ -481,7 +487,7 @@ def add_fields(pc, metadata, pc_data):
         else:
             fieldnames.extend(['%s_%04d' % (f, i) for i in xrange(c)])
             typenames.extend([np_type]*c)
-    dtype = zip(fieldnames, typenames)
+    dtype = list(zip(fieldnames, typenames))
     # new dtype. could be inferred?
     new_dtype = [(f, pc.pc_data.dtype[f])
                  for f in pc.pc_data.dtype.names] + dtype
@@ -693,7 +699,7 @@ def save_pcd(self, fname, compression=None, **kwargs):
             warnings.warn('data_compression keyword is deprecated for'
                           ' compression')
             compression = kwargs['data_compression']
-        with open(fname, 'w') as f:
+        with open(fname, 'wb') as f:
             point_cloud_to_fileobj(self, f, compression)
 
     def save_pcd_to_fileobj(self, fileobj, compression=None, **kwargs):

pypcd/tests/test_pypcd.py

@@ -84,7 +84,7 @@ def test_parse_header():
 
 
 def test_from_path(pcd_fname):
-    import pypcd
+    from pypcd import pypcd
     pc = pypcd.PointCloud.from_path(pcd_fname)
 
     fields = 'x y z normal_x normal_y normal_z curvature boundary k vp_x vp_y vp_z principal_curvature_x principal_curvature_y principal_curvature_z pc1 pc2'.split()
@@ -95,7 +95,7 @@ def test_from_path(pcd_fname):
 
 
 def test_add_fields(pcd_fname):
-    import pypcd
+    from pypcd import pypcd
     pc = pypcd.PointCloud.from_path(pcd_fname)
 
     old_md = pc.get_metadata()
@@ -114,7 +114,7 @@ def test_add_fields(pcd_fname):
 
 
 def test_path_roundtrip_ascii(pcd_fname):
-    import pypcd
+    from pypcd import pypcd
     pc = pypcd.PointCloud.from_path(pcd_fname)
     md = pc.get_metadata()
 
@@ -138,7 +138,7 @@ def test_path_roundtrip_ascii(pcd_fname):
 
 
 def test_path_roundtrip_binary(pcd_fname):
-    import pypcd
+    from pypcd import pypcd
     pc = pypcd.PointCloud.from_path(pcd_fname)
     md = pc.get_metadata()
 
@@ -152,7 +152,7 @@ def test_path_roundtrip_binary(pcd_fname):
 
     pc2 = pypcd.PointCloud.from_path(tmp_fname)
     md2 = pc2.get_metadata()
-    for k, v in md2.iteritems():
+    for k, v in md2.items():
         if k == 'data':
             assert v == 'binary'
         else:
@@ -166,7 +166,7 @@ def test_path_roundtrip_binary(pcd_fname):
 
 
 def test_path_roundtrip_binary_compressed(pcd_fname):
-    import pypcd
+    from pypcd import pypcd
     pc = pypcd.PointCloud.from_path(pcd_fname)
     md = pc.get_metadata()
 
@@ -180,7 +180,7 @@ def test_path_roundtrip_binary_compressed(pcd_fname):
 
     pc2 = pypcd.PointCloud.from_path(tmp_fname)
     md2 = pc2.get_metadata()
-    for k, v in md2.iteritems():
+    for k, v in md2.items():
         if k == 'data':
             assert v == 'binary_compressed'
         else:
@@ -193,7 +193,7 @@ def test_path_roundtrip_binary_compressed(pcd_fname):
 
 
 def test_cat_pointclouds(pcd_fname):
-    import pypcd
+    from pypcd import pypcd
     pc = pypcd.PointCloud.from_path(pcd_fname)
     pc2 = pc.copy()
     pc2.pc_data['x'] += 0.1
@@ -204,7 +204,7 @@ def test_cat_pointclouds(pcd_fname):
 
 
 def test_ascii_bin1(ascii_pcd_fname, bin_pcd_fname):
-    import pypcd
+    from pypcd import pypcd
     apc1 = pypcd.point_cloud_from_path(ascii_pcd_fname)
     bpc1 = pypcd.point_cloud_from_path(bin_pcd_fname)
     am = cloud_centroid(apc1)