Make code (test code at least) compatible to Python3

start-jsk · Aug 18, 2023 · df165a8 · df165a8
1 parent 7a9ea00
commit df165a8
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Showing 29 changed files with 171 additions and 27 deletions.
diff --git a/archives/master.py b/archives/master.py
diff --git a/archives/open_color_histogram_data.py b/archives/open_color_histogram_data.py
diff --git a/demos/grasp_fusion/ros/grasp_fusion/CMakeLists.txt b/demos/grasp_fusion/ros/grasp_fusion/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED catkin_virtualenv)
 
 catkin_python_setup()
 
-# add_custom_target(${PROJECT_NAME}_install_data ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_data.py)
+# add_custom_target(${PROJECT_NAME}_install_data ALL COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/install_data.py)
 # Don't install data on build time to prevent build failure on travis due to googledrive access limit
 
 ################################################

diff --git a/demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/CMakeLists.txt b/demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED catkin_virtualenv)
 
 catkin_python_setup()
 
-# add_custom_target(${PROJECT_NAME}_install_data ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_data.py)
+# add_custom_target(${PROJECT_NAME}_install_data ALL COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/install_data.py)
 # Don't install data on build time to prevent build failure on travis due to googledrive access limit
 
 ################################################

diff --git a/demos/selective_dualarm_grasping/CMakeLists.txt b/demos/selective_dualarm_grasping/CMakeLists.txt
@@ -27,7 +27,7 @@ generate_messages(
   jsk_recognition_msgs
 )
 
-# add_custom_target(${PROJECT_NAME}_install_models ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_models.py)
+# add_custom_target(${PROJECT_NAME}_install_models ALL COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/install_models.py)
 
 generate_dynamic_reconfigure_options(
   cfg/DualarmGraspSegmentation.cfg

diff --git a/demos/selective_dualarm_stowing/experiments/compute_point_threshold.py b/demos/selective_dualarm_stowing/experiments/compute_point_threshold.py
@@ -15,6 +15,11 @@
 from utils import get_APC_pt
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 def compute_point_threshold(
         gpu, data_type, log_dir, model_type):
     answer_pt_list = []

diff --git a/demos/selective_dualarm_stowing/experiments/show_graph.py b/demos/selective_dualarm_stowing/experiments/show_graph.py
@@ -9,6 +9,11 @@
 from selective_arm_stowing.dataset.v4 import DualarmDatasetV4
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 def show_acc_graph(log_dir, line_num):
     for root, dirs, files in os.walk(log_dir):
         plt.figure()

diff --git a/jsk_2015_05_baxter_apc/json/2016_ar/generate_json.py b/jsk_2015_05_baxter_apc/json/2016_ar/generate_json.py
@@ -10,6 +10,11 @@
 import jsk_apc2015_common
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 parser = argparse.ArgumentParser()
 parser.add_argument('json_id')
 args = parser.parse_args()
@@ -51,4 +56,4 @@
 if osp.exists(json_file):
     print('json file already exists: {0}'.format(json_file))
 else:
-    json.dump(json_data, open(json_file, 'wb'), indent=2)
+    json.dump(json_data, open(json_file, 'wb'), indent=2)
diff --git a/jsk_2015_05_baxter_apc/node_scripts/color_histogram_features.py b/jsk_2015_05_baxter_apc/node_scripts/color_histogram_features.py
@@ -9,7 +9,12 @@
 import numpy as np
 import os
 import gzip
-import cPickle as pickle
+try:
+    # Python2
+    import cPickle as pickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as pickle
 
 from sklearn.svm import SVC
 from skimage.io import imread

diff --git a/jsk_2015_05_baxter_apc/node_scripts/color_histogram_matcher.py b/jsk_2015_05_baxter_apc/node_scripts/color_histogram_matcher.py
@@ -17,7 +17,12 @@
 from __future__ import division
 import rospy
 import cv2
-import cPickle
+try:
+    # Python2
+    import cPickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as cPickle
 import gzip
 import numpy as np
 import os

diff --git a/jsk_2015_05_baxter_apc/node_scripts/common.py b/jsk_2015_05_baxter_apc/node_scripts/common.py
@@ -4,7 +4,12 @@
 import os
 import yaml
 import gzip
-import cPickle as pickle
+try:
+    # Python2
+    import cPickle as pickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as pickle
 
 import cv2
 from catkin import terminal_color

diff --git a/jsk_2015_05_baxter_apc/node_scripts/extract_color_histogram.py b/jsk_2015_05_baxter_apc/node_scripts/extract_color_histogram.py
@@ -18,7 +18,12 @@
 """
 import os
 import gzip
-import cPickle as pickle
+try:
+    # Python2
+    import cPickle as pickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as pickle
 
 import cv2
 import numpy as np

diff --git a/jsk_2016_01_baxter_apc/CMakeLists.txt b/jsk_2016_01_baxter_apc/CMakeLists.txt
@@ -288,7 +288,7 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/work_order.test)
   add_rostest(test/stow_work_order.test)
   add_rostest(test/apply_bin_contents_hint.test)
-  add_custom_target(download_test_data COMMAND ${PROJECT_SOURCE_DIR}/scripts/download_test_data.py)
+  add_custom_target(download_test_data COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/download_test_data.py)
   if(TARGET tests)
     add_dependencies(tests download_test_data)
   endif()

diff --git a/jsk_apc2015_common/scripts/test_bof_object_recognition.py b/jsk_apc2015_common/scripts/test_bof_object_recognition.py
@@ -2,7 +2,12 @@
 # -*- coding: utf-8 -*-
 
 import argparse
-import cPickle as pickle
+try:
+    # Python2
+    import cPickle as pickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as pickle
 import gzip
 import sys
 

diff --git a/jsk_apc2015_common/src/jsk_apc2015_common/__init__.py b/jsk_apc2015_common/src/jsk_apc2015_common/__init__.py
@@ -12,6 +12,11 @@
 PKG = 'jsk_apc2015_common'
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 def get_object_list():
     """Returns the object name list for APC2015.
 

diff --git a/jsk_apc2015_common/src/jsk_apc2015_common/tests/__init__.py b/jsk_apc2015_common/src/jsk_apc2015_common/tests/__init__.py
@@ -24,9 +24,9 @@ def test_load_json():
     json_file = osp.join(_this_dir, 'data', 'f2.json')
     bin_contents, work_order = jsk_apc2015_common.load_json(json_file)
     assert_true(isinstance(bin_contents, dict))
-    assert_equal(bin_contents.keys(), ['f'])
+    assert_equal(list(bin_contents.keys()), ['f'])
     assert_true(isinstance(work_order, dict))
-    assert_equal(work_order.keys(), ['f'])
+    assert_equal(list(work_order.keys()), ['f'])
 
 
 def test__get_tile_shape():

diff --git a/jsk_apc2016_common/CMakeLists.txt b/jsk_apc2016_common/CMakeLists.txt
@@ -171,9 +171,9 @@ target_link_libraries(sib_topic_synchronizer ${catkin_LIBRARIES})
 target_link_libraries(cloud_to_spatial_features ${catkin_LIBRARIES} ${Eigen3_LIBRARIES})
 
 # trained data
-# add_custom_target(install_trained_data ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_trained_data.py)
+# add_custom_target(install_trained_data ALL COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/install_trained_data.py)
 # sample data
-# add_custom_target(install_sample_data ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_sample_data.py)
+# add_custom_target(install_sample_data ALL COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/install_sample_data.py)
 
 #############
 ## Install ##

diff --git a/jsk_apc2016_common/python/jsk_apc2016_common/__init__.py b/jsk_apc2016_common/python/jsk_apc2016_common/__init__.py
@@ -114,7 +114,7 @@ def visualize_stow_contents(work_order):
     tote_region = [[190, 230], [1080, 790]]
     region_h = tote_region[1][1] - tote_region[0][1]
     region_w = tote_region[1][0] - tote_region[0][0]
-    max_obj_h, max_obj_w = region_h / 3, region_w / 4
+    max_obj_h, max_obj_w = region_h // 3, region_w // 4
     tote_x_min, tote_y_min = tote_region[0][0], tote_region[0][1]
     x_min, y_min = tote_x_min, tote_y_min
     for obj in work_order:

diff --git a/jsk_apc2016_common/python/jsk_apc2016_common/rbo_segmentation/apc_data.py b/jsk_apc2016_common/python/jsk_apc2016_common/rbo_segmentation/apc_data.py
@@ -4,7 +4,12 @@
 import cv2
 import os.path
 
-import cPickle as pickle
+try:
+    # Python2
+    import cPickle as pickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as pickle
 import matplotlib.pyplot as plt
 import numpy as np
 

diff --git a/jsk_apc2016_common/python/jsk_apc2016_common/rbo_segmentation/main.py b/jsk_apc2016_common/python/jsk_apc2016_common/rbo_segmentation/main.py
@@ -9,7 +9,12 @@
 import numpy as np
 import cv2
 import os, sys
-import cPickle as pickle
+try:
+    # Python2
+    import cPickle as pickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as pickle
 import copy
 
 import utils
@@ -228,7 +233,12 @@ def display_experiment_objects(filename):
                       "stick_notes", "safety_glasses", "duck_toy", "highlighters",
                       "frog_toy", "stanley_66", "dental_treats", "tennis_ball", "shelf"]
 
-    import cPickle as pickle
+    try:
+        # Python2
+        import cPickle as pickle
+    except ModuleNotFoundError:
+        # Python3
+        import _pickle as pickle
 
     with open(filename,'rb') as f:
         results = pickle.load(f)
@@ -440,7 +450,12 @@ def experiment_baseline(datasets, results_path):
 
 def display_experiment_baseline(filename):
 
-    import cPickle as pickle
+    try:
+        # Python2
+        import cPickle as pickle
+    except ModuleNotFoundError:
+        # Python3
+        import _pickle as pickle
     with open(filename,'rb') as f:
         results = pickle.load(f)
 
@@ -549,7 +564,12 @@ def experiment_removed_features(datasets, results_path):
 
 def display_experiment_features(filenames):
 
-    import cPickle as pickle
+    try:
+        # Python2
+        import cPickle as pickle
+    except ModuleNotFoundError:
+        # Python3
+        import _pickle as pickle
 
     results = dict()
     for filename in filenames:
@@ -894,7 +914,12 @@ def experiment_model(datasets, results_path):
 
 def display_experiment_model(filename):
 
-    import cPickle as pickle
+    try:
+        # Python2
+        import cPickle as pickle
+    except ModuleNotFoundError:
+        # Python3
+        import _pickle as pickle
     with open(filename,'rb') as f:
         results = pickle.load(f)
 
@@ -1000,4 +1025,4 @@ def display_experiment_model(filename):
     filename_results = experiment_model(datasets, results_path)
     display_experiment_model(filename_results)
 
-    print('\nDone.')
+    print('\nDone.')
diff --git a/jsk_apc2016_common/python/jsk_apc2016_common/rbo_segmentation/utils.py b/jsk_apc2016_common/python/jsk_apc2016_common/rbo_segmentation/utils.py
@@ -4,11 +4,21 @@
 import cv2
 import os.path
 
-import cPickle as pickle
+try:
+    # Python2
+    import cPickle as pickle
+except ModuleNotFoundError:
+    # Python3
+    import _pickle as pickle
 import matplotlib.pyplot as plt
 import numpy as np
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 def visualize_color_image(img, title=''):
     plt.figure()
     plt.title(title)

diff --git a/jsk_apc2016_common/python/jsk_apc2016_common/segmentation_in_bin/bin_data.py b/jsk_apc2016_common/python/jsk_apc2016_common/segmentation_in_bin/bin_data.py
@@ -3,6 +3,11 @@
 from geometry_msgs.msg import Point, PointStamped
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 class BinData(object):
     def __init__(self, *args, **kwargs):
         if 'bin_info' in kwargs:

diff --git a/jsk_apc2016_common/python/jsk_apc2016_common/tests/__init__.py b/jsk_apc2016_common/python/jsk_apc2016_common/tests/__init__.py
@@ -10,12 +10,20 @@
 import jsk_apc2016_common
 
 
+# basestring is deleted on Python3
+# https://stackoverflow.com/questions/11301138/how-to-check-if-variable-is-string-with-python-2-and-3-compatibility/22679982#22679982
+try:
+    basestring
+except NameError:
+    basestring = str
+
+
 _this_dir = osp.dirname(osp.realpath(osp.abspath(__file__)))
 
 
 def test_get_object_data():
     obj_data = jsk_apc2016_common.get_object_data()
-    obj_names = map(lambda d: d['name'], obj_data)
+    obj_names = list(map(lambda d: d['name'], obj_data))
     assert_true(isinstance(obj_data, list))
     assert_equal(39, len(obj_data))
     assert_equal(sorted(obj_names), obj_names)

diff --git a/jsk_arc2017_baxter/scripts/force_recognize_usb_devices b/jsk_arc2017_baxter/scripts/force_recognize_usb_devices
@@ -12,6 +12,11 @@ import time
 import termcolor
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 def sudo_bash_cmd(cmd):
     return "sudo bash -c '%s'" % cmd
 

diff --git a/jsk_arc2017_common/CMakeLists.txt b/jsk_arc2017_common/CMakeLists.txt
@@ -59,7 +59,7 @@ catkin_package(
 ## Build ##
 ###########
 
-# add_custom_target(install_data ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_data.py)
+# add_custom_target(install_data ALL COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/install_data.py)
 
 #############
 ## Install ##