def __init__(self, input_port_name, output_port_name, display_port_name):
yarp.RFModule.__init__(self)
# Prepare ports
self._input_port = yarp.Port()
self._input_port_name = input_port_name
self._input_port.open(self._input_port_name)
self._output_port = yarp.BufferedPortBottle()
self._output_port_name = output_port_name
self._output_port.open(self._output_port_name)
self._display_port = yarp.Port()
self._display_port_name = display_port_name
self._display_port.open(self._display_port_name)
# Prepare image buffers
# Input
self._input_buf_image = yarp.ImageRgb()
self._input_buf_image.resize(320, 240)
self._input_buf_array = np.zeros((240, 320, 3), dtype=np.uint8)
self._input_buf_image.setExternal(self._input_buf_array,
self._input_buf_array.shape[1], self._input_buf_array.shape[0])
# Output
self._display_buf_image = yarp.ImageRgb()
self._display_buf_image.resize(320, 240)
self._display_buf_array = np.zeros((240, 320, 3), dtype=np.uint8)
self._display_buf_image.setExternal(self._display_buf_array,
self._display_buf_array.shape[1], self._display_buf_array.shape[0])
self._logger = yarp.Log()
def __init__(self):
if YarpLogger._instance != None:
raise Exception("This class is a singleton!")
else:
YarpLogger._instance = self
self.__yarp_logger__ = yarp.Log("",0,"") #FIXME: without params I get segfault
self.enable_logs()
import scipy.io.wavfile as wavfile
import librosa
import sys
import yarp
import numpy as np
from CONFIG import *
import scipy
# subjects_dic = {0: 'NOEMIE', 1: 'BACKGROUND', 2: 'VALERIA', 3:'MELLY', 4: 'JONAS', 5: 'FABIO', 6: 'CARLO', 7: 'GIULIA',
# 8: 'MARCO', 9: 'FRANCESCO', 10: 'DARIO', 11: 'LINDA', 12: 'LUCA'}
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
yarpLog = yarp.Log()
class SpeakeRecognitionModule(yarp.RFModule):
"""
Description:
Class to recognize speaker from the audio
Args:
input_port : Audio from remoteInterface
"""
def __init__(self):
yarp.RFModule.__init__(self)
# handle port for the RFModule
V_rad = yarp.Vector(V.size(), 0.0)
for i in range(V.size()):
V_rad[i] = V[i] * icub.CTRL_DEG2RAD
return V_rad
yarp.Network.init()
icub.init()
name = 'test'
robot = 'icubSim'
arm_name = 'left_arm'
# To use yarp log function
log = yarp.Log()
props = yarp.Property()
props.put("device", "remote_controlboard")
props.put("local", "/" + name + "/" + arm_name)
props.put("remote", "/" + robot + "/" + arm_name)
# create remote driver
_armDriver = yarp.PolyDriver(props)
# query motor control interfaces
_iPos = _armDriver.viewIPositionControl()
_iEnc_arm = _armDriver.viewIEncoders()
# retrieve number of joints
_jnts_arm = _iPos.getAxes()
import yarp
import icubclient
import sys
import time
if __name__ == '__main__':
yarp.Network.init()
logger = yarp.Log()
iCub = icubclient.ICubClient("AREiCubClientExample", "icubClient", "example_ARE.ini")
rfClient = yarp.ResourceFinder()
rfClient.setVerbose(True)
rfClient.setDefaultContext("icubClient")
rfClient.setDefaultConfigFile("example_ARE.ini")
rfClient.configure(sys.argv)
# we connect to both ARE and OPC
if not iCub.connect():
logger.error() << "[ARE_KARMAiCubClientExample] ARE and/or OPC seems unavailabe!"
if rfClient.check("target"):
target = rfClient.find("target").asString()
logger.info() << "target name set to %s"
logger.info() << target
else:
target = "octopus"
logger.info() << "target name set to default, i.e. "
logger.info() << target
def __init__(self, logtype=NONE):
self.__logtype__ = logtype
if not self.__logtype__ is YarpLogger.NONE:
self.__yarp_logger__ = yarp.Log()
