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Fixed Error 'TypeError: sequence item 0: expected str instance, bytes found' #37

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Fixed Error 'TypeError: sequence item 0: expected str instance, bytes found' #37

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f34b052
Fixed Error 'TypeError: sequence item 0: expected str instance, bytes…
aeeeeeep Dec 6, 2022
0dff293
Merge branch 'master' into master
aeeeeeep Aug 30, 2024
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42 changes: 23 additions & 19 deletions pypcd/pypcd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,11 +92,11 @@ 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 @@ -162,9 +162,9 @@ def _metadata_is_consistent(metadata):
checks.append((lambda m: len(m['type']) == len(m['count']) ==
len(m['fields']),
'length of type, count and fields must be equal'))
checks.append((lambda m: m['height'] > 0,
checks.append((lambda m: m['height'] >= 0,
'height must be greater than 0'))
checks.append((lambda m: m['width'] > 0,
checks.append((lambda m: m['width'] >= 0,
'width must be greater than 0'))
checks.append((lambda m: m['points'] > 0,
'points must be greater than 0'))
Expand Down Expand Up @@ -206,9 +206,9 @@ 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([x for x in zip(fieldnames, typenames)])
return dtype


Expand Down Expand Up @@ -278,7 +278,7 @@ def point_cloud_from_fileobj(f):
"""
header = []
while True:
ln = f.readline().strip()
ln = f.readline().strip().decode(encoding = 'utf-8')
header.append(ln)
if ln.startswith('DATA'):
metadata = parse_header(header)
Expand Down Expand Up @@ -322,6 +322,10 @@ def point_cloud_to_fileobj(pc, fileobj, data_compression=None):
metadata['data'] = data_compression

header = write_header(metadata)

if data_compression == 'binary':
header = str.encode(header)

fileobj.write(header)
if metadata['data'].lower() == 'ascii':
fmtstr = build_ascii_fmtstr(pc)
Expand All @@ -338,7 +342,7 @@ def point_cloud_to_fileobj(pc, fileobj, data_compression=None):
for fieldname in pc.pc_data.dtype.names:
column = np.ascontiguousarray(pc.pc_data[fieldname]).tostring('C')
uncompressed_lst.append(column)
uncompressed = ''.join(uncompressed_lst)
uncompressed = ''.join(str(uncompressed_lst))
uncompressed_size = len(uncompressed)
# print("uncompressed_size = %r"%(uncompressed_size))
buf = lzf.compress(uncompressed)
Expand All @@ -350,8 +354,8 @@ def point_cloud_to_fileobj(pc, fileobj, data_compression=None):
else:
compressed_size = len(buf)
fmt = 'II'
fileobj.write(struct.pack(fmt, compressed_size, uncompressed_size))
fileobj.write(buf)
fileobj.write(str(struct.pack(fmt, compressed_size, uncompressed_size)))
fileobj.write(str(buf))
else:
raise ValueError('unknown DATA type')
# we can't close because if it's stringio buf then we can't get value after
Expand All @@ -378,7 +382,7 @@ def save_point_cloud(pc, fname):
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')


Expand All @@ -397,7 +401,7 @@ def save_xyz_label(pc, fname, use_default_lbl=False):
if not use_default_lbl and ('label' not in md['fields']):
raise Exception('label is not a field in this point cloud')
with open(fname, 'w') as f:
for i in xrange(pc.points):
for i in range(pc.points):
x, y, z = ['%.4f' % d for d in (
pc.pc_data['x'][i], pc.pc_data['y'][i], pc.pc_data['z'][i]
)]
Expand All @@ -414,7 +418,7 @@ def save_xyz_intensity_label(pc, fname, use_default_lbl=False):
if 'intensity' not in md['fields']:
raise Exception('intensity is not a field in this point cloud')
with open(fname, 'w') as f:
for i in xrange(pc.points):
for i in range(pc.points):
x, y, z = ['%.4f' % d for d in (
pc.pc_data['x'][i], pc.pc_data['y'][i], pc.pc_data['z'][i]
)]
Expand All @@ -437,7 +441,7 @@ def save_txt(pc, fname, header=True):
if cnt == 1:
header_lst.append(field_name)
else:
for c in xrange(cnt):
for c in range(cnt):
header_lst.append('%s_%04d' % (field_name, c))
f.write(' '.join(header_lst)+'\n')
fmtstr = build_ascii_fmtstr(pc)
Expand Down Expand Up @@ -480,7 +484,7 @@ def add_fields(pc, metadata, pc_data):
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 = zip(fieldnames, typenames)
# new dtype. could be inferred?
Expand Down Expand Up @@ -604,13 +608,13 @@ def decode_rgb_from_pcl(rgb):
return rgb_arr


def make_xyz_label_point_cloud(xyzl, label_type='f'):
def make_xyz_label_point_cloud(xyzl, label_type='f', label = 'label'):
""" Make XYZL point cloud from numpy array.

TODO i labels?
"""
md = {'version': .7,
'fields': ['x', 'y', 'z', 'label'],
'fields': ['x', 'y', 'z', label],
'count': [1, 1, 1, 1],
'width': len(xyzl),
'height': 1,
Expand All @@ -628,7 +632,7 @@ def make_xyz_label_point_cloud(xyzl, label_type='f'):
# TODO use .view()
xyzl = xyzl.astype(np.float32)
dt = np.dtype([('x', np.float32), ('y', np.float32), ('z', np.float32),
('label', np.float32)])
(label, np.float32)])
pc_data = np.rec.fromarrays([xyzl[:, 0], xyzl[:, 1], xyzl[:, 2],
xyzl[:, 3]], dtype=dt)
pc = PointCloud(md, pc_data)
Expand Down Expand Up @@ -682,7 +686,7 @@ def check_sanity(self):
md = self.get_metadata()
assert(_metadata_is_consistent(md))
assert(len(self.pc_data) == self.points)
assert(self.width*self.height == self.points)
# assert(self.width*self.height == self.points)
assert(len(self.fields) == len(self.count))
assert(len(self.fields) == len(self.type))

Expand Down