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Mannually merge from https://github.com/dimatura/pypcd/pull/9 #20

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7 changes: 7 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -5,3 +5,10 @@ build
.eggs/
dist
_build
bin
lib
include
.Python
.idea
pip-selfcheck.json
.pytest_cache/
36 changes: 21 additions & 15 deletions pypcd/pypcd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
import re
import struct
import copy
import cStringIO as sio
import numpy as np
import warnings
import lzf
Expand All @@ -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',
Expand Down Expand Up @@ -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?
Expand Down Expand Up @@ -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


Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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.
Expand All @@ -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)
Expand All @@ -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)


Expand All @@ -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')


Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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):
Expand Down
18 changes: 9 additions & 9 deletions pypcd/tests/test_pypcd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
Expand All @@ -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()
Expand All @@ -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()

Expand All @@ -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()

Expand All @@ -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:
Expand All @@ -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()

Expand All @@ -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:
Expand All @@ -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
Expand All @@ -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)
Expand Down