def sound(self):
"""
Position the gripper (grasping the rod) parallel to ground and move down
BE SURE TO HAVE LAUNCH roslaunch audio_capture capture.launch
"""
iters = 3 # number of times to hit
home_pose = tfx.pose([0.48, -0.67, 0.85],
tfx.tb_angles(0, 0, 0),
frame='base_link')
home_joints = [-1.49, 0.276231, -1.8, -1.43, 1.33627, -0.254, -25.1481]
delta_pos = [0, 0, -0.10]
speed = 0.25
file = '../data/sound_{0}.bag'.format(self.object_material)
print('Recording to file: {0}'.format(file))
sd = save_data.SaveData(file, save_data.PR2_TOPICS_AND_TYPES)
print('Going to home joints')
self.rarm.go_to_joints(home_joints)
print('Starting recording and moving by {0} for {1} times'.format(
delta_pos, iters))
sd.start()
for _ in xrange(iters):
self.rarm.go_to_pose(home_pose + delta_pos,
speed=speed,
block=True)
self.rarm.go_to_joints(home_joints)
sd.stop()
def execute_experiment(self,
file,
home_joints,
home_pose,
delta_pos,
speed=0.02):
self.larm.set_gripper(0.75 * self.larm.min_grasp +
0.25 * self.larm.max_grasp)
print('Recording to file: {0}'.format(file))
sd = save_data.SaveData(file, save_data.PR2_TOPICS_AND_TYPES)
print('Going to home joints')
self.larm.go_to_joints(home_joints)
self.zero_pressure_sensors()
print('Starting recording and moving by {0}'.format(delta_pos))
sd.start()
duration = self.larm.go_to_pose(home_pose + delta_pos,
speed=speed,
block=False)
self.wait_action(duration)
sd.stop()
print('Stopping recording. Going to home joints')
self.larm.go_to_joints(home_joints)
def main():
image_path = input('>> Caminho para a imagem com extensão: ')
image = img_process.ImageProcess(image_path)
huffman_obj = huffman.Huffman(image.img_array)
save_data.SaveData('results/', image.img_array, huffman_obj.hist,
huffman_obj.codes)
bench = benchmark.Benchmark(image, image.img_array, huffman_obj.codes)
print('\nRESULTADOS PODEM SER VISUALIZADOS EM "/results"')
def __init__(self):
self.download_html = download_html.DownloadHtml()
self.paraser_html = paraser_html.HtmlParaser()
self.save_data = save_data.SaveData()
self.savedb = saveToDB.ConnMysql()
#!/usr/bin/python2.7 # coding=utf-8 import download_html import paraser_html import save_data import saveToDB import main downloader = download_html.DownloadHtml() paraser = paraser_html.HtmlParaser() save = save_data.SaveData() spider = main.videoSpider() db = saveToDB.ConnMysql() # movie_url1 = 'http://list.youku.com/show/id_z6f9e63deffb911e5a080.html?spm=a2h0j.8191423.sMain.5~5~A!2' # movie_url = 'http://list.youku.com/show/id_zef0a07f820b211e6a080.html?spm=a2h0j.8191423.sMain.5~5~A!2' # movie_html = downloader.download(movie_url,2) # soup = BeautifulSoup(movie_html, 'lxml') # movie_info = paraser.get_movie_info(soup) # movie_info['url']=movie_url # db.insertDB([movie_info]) # save.savefile2([movie_info]) base_url = 'http://list.youku.com/category/show' pre_url = '/c_96' spider.getVideoInfo(base_url, pre_url)
def __init__(self):
self.downloader = html_downloader.Html_Downloader() #html下载器
self.parser = html_parser.Html_Parser()
self.save_data = save_data.SaveData()