Fixup debug prints and cleanup print statement consistency in general.

script/bag2tf.py

@@ -7,6 +7,7 @@
 # http:https://www.apache.org/licenses/LICENSE-2.0
 # ==============================================================================
 
+from __future__ import print_function
 from cv_bridge import CvBridge, CvBridgeError
 import os
 import sys
@@ -110,7 +111,6 @@ def __init__(self, outdir, name, num_entries, num_shards=256):
 
  def _update_writer(self):
  if not self._writer or self._shard_counter >= self.num_entries_per_shard:
- sys.stdout.flush()
  shard = self._counter // self.num_entries_per_shard
  assert(shard <= self.num_shards)
  output_filename = '%s-%.5d-of-%.5d' % (self.name, shard, self.num_shards)
@@ -150,8 +150,6 @@ def main():
  separate_streams = args.separate
  num_images = args.num_images # FIXME detect from bag_info (takes more time)
 
- print type(num_images)
- print separate_streams
  bridge = CvBridge()
 
  filter_topics = [LEFT_CAMERA_TOPIC, CENTER_CAMERA_TOPIC, RIGHT_CAMERA_TOPIC, STEERING_TOPIC]
@@ -168,16 +166,17 @@ def main():
  shard_writer = ShardWriter(single_outdir, 'combined', 3*num_images, num_shards=128)
 
  latest_steering_msg = None
-
+ example_count = 0
  with rosbag.Bag(rosbag_file, "r") as bag:
  for topic, msg, t in bag.read_messages(topics=filter_topics):
  if (topic == LEFT_CAMERA_TOPIC or 
  topic == CENTER_CAMERA_TOPIC or
  topic == RIGHT_CAMERA_TOPIC):
 
  if debug_print:
- print msg.frame_id + str(msg.header.stamp.to_nsec())
- print 'steering %u : image %u' % (latest_steering_msg.header.stamp.to_nsec(), msg.header.stamp.to_nsec())
+ print("%s_camera %d" % (msg.header.frame_id[0], msg.header.stamp.to_nsec()))
+ print("steering %d, %f" % 
+ (latest_steering_msg.header.stamp.to_nsec(), latest_steering_msg.steering_wheel_angle))
 
  if separate_streams:
  if topic == LEFT_CAMERA_TOPIC:
@@ -190,12 +189,16 @@ def main():
  writer = shard_writer
 
  write_example(writer, bridge, msg, latest_steering_msg, image_fmt=img_format)
+ example_count += 1
 
  elif topic == STEERING_TOPIC:
  if debug_print:
- print 'steering %u : %f, %f' % (msg.header.stamp.to_nsec(), msg.steering_wheel_angle)
+ print("steering %d, %f" % (msg.header.stamp.to_nsec(), msg.steering_wheel_angle))
 
  latest_steering_msg = msg
+
+ print("Completed processing %d images to TF examples." % example_count)
+ sys.stdout.flush()
 
 
 if __name__ == '__main__':

script/bagdump.py

@@ -7,6 +7,7 @@
 # http:https://www.apache.org/licenses/LICENSE-2.0
 # ==============================================================================
 
+from __future__ import print_function
 from cv_bridge import CvBridge, CvBridgeError
 from collections import defaultdict
 import os
@@ -83,19 +84,19 @@ def main():
  for topic, msg, t in bag.read_messages(topics=filter_topics):
  if topic == LEFT_CAMERA_TOPIC:
  if debug_print:
- print 'l_camera ' + str(msg.header.stamp.to_nsec())
+ print("l_camera %d" % msg.header.stamp.to_nsec())
  write_image(bridge, left_outdir, msg, fmt=img_format, table=camera_dict)
  elif topic == CENTER_CAMERA_TOPIC:
  if debug_print:
- print 'c_camera ' + str(msg.header.stamp.to_nsec())
+ print("c_camera %d" % msg.header.stamp.to_nsec())
  write_image(bridge, center_outdir, msg, fmt=img_format, table=camera_dict)
  elif topic == RIGHT_CAMERA_TOPIC:
  if debug_print:
- print 'r_camera ' + str(msg.header.stamp.to_nsec())
+ print("r_camera %d" % msg.header.stamp.to_nsec())
  write_image(bridge, right_outdir, msg, fmt=img_format, table=camera_dict)
  elif topic == STEERING_TOPIC:
  if debug_print:
- print 'steering %u : %f, %f' % (msg.header.stamp.to_nsec(), msg.steering_wheel_angle)
+ print("steering %d %f" % (msg.header.stamp.to_nsec(), msg.steering_wheel_angle))
  steering_dict["seq"].append(msg.header.seq)
  steering_dict["timestamp"].append(msg.header.stamp.to_nsec())
  steering_dict["angle"].append(msg.steering_wheel_angle)

script/readtf.py

@@ -7,6 +7,7 @@
 # http:https://www.apache.org/licenses/LICENSE-2.0
 # ==============================================================================
 
+from __future__ import print_function
 import os
 import sys
 import tensorflow as tf
@@ -90,15 +91,15 @@ def main():
  assert decoded_image.shape[2] == 3
  read_count += len(read_output)
  if not read_count % 1000:
- print "Read %d examples" % read_count
+ print("Read %d examples" % read_count)
 
  except tf.errors.OutOfRangeError:
- print "Reading stopped by Queue"
+ print("Reading stopped by Queue")
  finally:
  # Ask the threads to stop.
  coord.request_stop()
 
- print 'Done reading %d images' % read_count
+ print("Done reading %d images" % read_count)
 
  # Wait for threads to finish.
  coord.join(threads)