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@ -18,10 +18,10 @@ class TakePhoto:
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img_topic = "/camera/rgb/image_raw"
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img_topic = "/camera/rgb/image_raw"
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self.image_sub = rospy.Subscriber(img_topic, Image, self.callback)
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self.image_sub = rospy.Subscriber(img_topic, Image, self.callback)
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# Allow up to two second to connection,
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# Allow up to two second to connection,
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# The initial one second is too short for the camera.
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# The initial one second is too short for the camera.
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# rospy.sleep(1)
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# rospy.sleep(1)
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# by lcp
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# by lcp
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rospy.sleep(2)
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rospy.sleep(2)
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def callback(self, data):
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def callback(self, data):
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@ -45,18 +45,20 @@ class TakePhoto:
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# Initialize
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# Initialize
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rospy.init_node('take_photo', anonymous=False)
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rospy.init_node('take_photo', anonymous=False)
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camera = TakePhoto() #构造出TakePhoto类的一个对象，
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# 构造出TakePhoto类的一个对象，
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camera = TakePhoto()
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# Take a photo
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# Take a photo
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# Use '_image_title' parameter from command line
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# Use '_image_title' parameter from command line
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# Default value is 'photo.jpg'
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# Default value is 'photo.jpg'
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# 照片的名字默认为'photo.jpg'
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# 照片的名字默认为'photo.jpg'
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img_title = rospy.get_param('~image_title', 'photo.jpg')
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img_title = rospy.get_param('~image_title', 'photo.jpg')
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# 调用camera的成员函数take_picture，
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if camera.take_picture(img_title):
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# 如果拍照成功，打印日志"Saved image photo.jpg"
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rospy.loginfo("Saved image " + img_title)
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if camera.take_picture(img_title): #调用camera的成员函数take_picture，
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# 如果拍照成功，打印日志"Saved image photo.jpg"
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rospy.loginfo("Saved image " + img_title)
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else:
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else:
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# 如果拍照失败，打印日志"No images received"
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# 如果拍照失败，打印日志"No images received"
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rospy.loginfo("No images received")
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rospy.loginfo("No images received")
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@ -77,8 +79,8 @@ data.append('--%s' % boundary)
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data.append('Content-Disposition: form-data; name="%s"\r\n' % 'api_secret')
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data.append('Content-Disposition: form-data; name="%s"\r\n' % 'api_secret')
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data.append(secret)
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data.append(secret)
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data.append('--%s' % boundary)
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data.append('--%s' % boundary)
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#用'rb'方式读取文件
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# 用'rb'方式读取文件
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fr=open(filepath,'rb')
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fr=open(filepath, 'rb')
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data.append('Content-Disposition: form-data; name="%s"; filename=" "' % 'image_file')
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data.append('Content-Disposition: form-data; name="%s"; filename=" "' % 'image_file')
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data.append('Content-Type: %s\r\n' % 'application/octet-stream')
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data.append('Content-Type: %s\r\n' % 'application/octet-stream')
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data.append(fr.read())
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data.append(fr.read())
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@ -86,31 +88,31 @@ data.append(fr.read())
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fr.close()
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fr.close()
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data.append('--%s' % boundary)
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data.append('--%s' % boundary)
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data.append('Content-Disposition: form-data; name="%s"\r\n' % 'return_landmark')
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data.append('Content-Disposition: form-data; name="%s"\r\n' % 'return_landmark')
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#人脸特征点：'2'返回106个，'1'返回83个，'0'不返回
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# 人脸特征点：'2'返回106个，'1'返回83个，'0'不返回
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data.append('0')
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data.append('0')
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data.append('--%s' % boundary)
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data.append('--%s' % boundary)
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data.append('Content-Disposition: form-data; name="%s"\r\n' % 'return_attributes')
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data.append('Content-Disposition: form-data; name="%s"\r\n' % 'return_attributes')
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#请求的数据集（字符串）
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# 请求的数据集（字符串）
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data.append("gender,headpose,emotion,eyegaze")
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data.append("gender,headpose,emotion,eyegaze")
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data.append('--%s--\r\n' % boundary)
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data.append('--%s--\r\n' % boundary)
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#python2中data不用decode、encode
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# python2中data不用decode、encode
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http_body='\r\n'.join(data)
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http_body='\r\n'.join(data)
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#buld http request
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# buld http request
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req=urllib2.Request(http_url)
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req = urllib2.Request(http_url)
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#header
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# header
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req.add_header('Content-Type', 'multipart/form-data; boundary=%s' % boundary)
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req.add_header('Content-Type', 'multipart/form-data; boundary=%s' % boundary)
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req.add_data(http_body)
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req.add_data(http_body)
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try:
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try:
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#req.add_header('Referer','http://remotserver.com/')
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# req.add_header('Referer','http://remotserver.com/')
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#post data to server
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# post data to server
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resp = urllib2.urlopen(req, timeout=5)
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resp = urllib2.urlopen(req, timeout=5)
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#get response
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# get response
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qrcont=resp.read()
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qrcont = resp.read()
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print qrcont
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print qrcont
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except urllib2.HTTPError as e:
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except urllib2.HTTPError as e:
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print e.read()
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print e.read()
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