some fixes for python 3 compatibility

closes #3 and #4
ori-mrg · Apr 7, 2017 · f66f13b · f66f13b
1 parent 739febd
commit f66f13b
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/python/build_pointcloud.py b/python/build_pointcloud.py
@@ -88,7 +88,7 @@ def build_pointcloud(lidar_dir, poses_file, extrinsics_dir, start_time, end_time
         scan = np.fromfile(scan_file, np.double)
         scan_file.close()
 
-        scan = scan.reshape((len(scan) / 3, 3)).transpose()
+        scan = scan.reshape((len(scan) // 3, 3)).transpose()
 
         if lidar != 'ldmrs':
             # LMS scans are tuples of (x, y, reflectance)

diff --git a/python/project_laser_into_camera.py b/python/project_laser_into_camera.py
@@ -74,7 +74,7 @@
 
 plt.imshow(image)
 plt.hold(True)
-plt.scatter(uv[0, :], uv[1, :], s=2, c=depth, edgecolors='none', cmap='jet')
+plt.scatter(np.ravel(uv[0, :]), np.ravel(uv[1, :]), s=2, c=depth, edgecolors='none', cmap='jet')
 plt.xlim(0, image.shape[1])
 plt.ylim(image.shape[0], 0)
 plt.xticks([])

diff --git a/python/transform.py b/python/transform.py
@@ -137,7 +137,7 @@ def so3_to_quaternion(so3):
     y = sqrt(1 + R_yy - R_xx - R_zz) / 2
     z = sqrt(1 + R_zz - R_yy - R_xx) / 2
 
-    max_index = max(xrange(4), key=[w, x, y, z].__getitem__)
+    max_index = max(range(4), key=[w, x, y, z].__getitem__)
 
     if max_index == 0:
         x = (R_zy - R_yz) / (4 * w)