diff --git a/src/AndroidApp/.idea/codeStyles/Project.xml b/src/AndroidApp/.idea/codeStyles/Project.xml
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+ xmlns:android
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+ ^$
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+ xmlns:.*
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+ ^$
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+ BY_NAME
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+ .*:id
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+ http://schemas.android.com/apk/res/android
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+ .*:name
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+ http://schemas.android.com/apk/res/android
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+ name
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+ ^$
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+ style
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+ ^$
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+ .*
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+ ^$
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+ BY_NAME
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+ .*
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+ http://schemas.android.com/apk/res/android
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+ ANDROID_ATTRIBUTE_ORDER
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+ .*
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+ .*
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+ BY_NAME
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diff --git a/src/AndroidApp/.idea/dbnavigator.xml b/src/AndroidApp/.idea/dbnavigator.xml
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diff --git a/src/AndroidApp/.idea/vcs.xml b/src/AndroidApp/.idea/vcs.xml
new file mode 100644
index 0000000..b2bdec2
--- /dev/null
+++ b/src/AndroidApp/.idea/vcs.xml
@@ -0,0 +1,6 @@
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\ No newline at end of file
diff --git a/src/AndroidApp/Tbot/.idea/caches/build_file_checksums.ser b/src/AndroidApp/Tbot/.idea/caches/build_file_checksums.ser
index c0e65f9..7012f9a 100644
Binary files a/src/AndroidApp/Tbot/.idea/caches/build_file_checksums.ser and b/src/AndroidApp/Tbot/.idea/caches/build_file_checksums.ser differ
diff --git a/src/AndroidApp/Tbot/app/src/main/java/me/wshuo/tbot/Settings.java b/src/AndroidApp/Tbot/app/src/main/java/me/wshuo/tbot/Settings.java
index d89e882..1cfac2b 100644
--- a/src/AndroidApp/Tbot/app/src/main/java/me/wshuo/tbot/Settings.java
+++ b/src/AndroidApp/Tbot/app/src/main/java/me/wshuo/tbot/Settings.java
@@ -166,7 +166,6 @@ public class Settings extends AppCompatPreferenceActivity {
return true;
*/
-
return PreferenceFragment.class.getName().equals(fragmentName)
|| GeneralPreferenceFragment.class.getName().equals(fragmentName)
|| DataSyncPreferenceFragment.class.getName().equals(fragmentName)
diff --git a/src/Robot/emotion_detector/Emotion.py b/src/Robot/emotion_detector/Emotion.py
new file mode 100644
index 0000000..643154e
--- /dev/null
+++ b/src/Robot/emotion_detector/Emotion.py
@@ -0,0 +1,122 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Fri Mar 26 09:03:33 2021
+
+@author: 59866
+"""
+
+import urllib2
+import urllib
+import time
+import sys
+import rospy
+import cv2
+from std_msgs.msg import String
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge, CvBridgeError
+class TakePhoto:
+ def __init__(self):
+
+ self.bridge = CvBridge()
+ self.image_received = False
+
+ # Connect image topic
+ img_topic = "/camera/rgb/image_raw"
+ self.image_sub = rospy.Subscriber(img_topic, Image, self.callback)
+
+ # Allow up to two second to connection,
+ # The initial one second is too short for the camera.
+ # rospy.sleep(1)
+ # by lcp
+ rospy.sleep(2)
+
+ def callback(self, data):
+
+ # Convert image to OpenCV format
+ try:
+ cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
+ except CvBridgeError as e:
+ print(e)
+
+ self.image_received = True
+ self.image = cv_image
+
+ def take_picture(self, img_title):
+ if self.image_received:
+ # Save an image
+ cv2.imwrite(img_title, self.image)
+ return True
+ else:
+ return False
+
+# Initialize
+rospy.init_node('take_photo', anonymous=False)
+camera = TakePhoto() #构造出TakePhoto类的一个对象，
+
+# Take a photo
+
+# Use '_image_title' parameter from command line
+# Default value is 'photo.jpg'
+# 照片的名字默认为'photo.jpg'
+img_title = rospy.get_param('~image_title', 'photo.jpg')
+
+if camera.take_picture(img_title): #调用camera的成员函数take_picture，
+# 如果拍照成功，打印日志"Saved image photo.jpg"
+ rospy.loginfo("Saved image " + img_title)
+else:
+# 如果拍照失败，打印日志"No images received"
+ rospy.loginfo("No images received")
+
+# Sleep to give the last log messages time to be sent
+rospy.sleep(1)
+http_url='https://api-cn.faceplusplus.com/facepp/v3/detect'
+key = "HNd4d3TEbl5oFy2cV9qFM2gNhRQ6UuvG"
+secret = "ZpCtE9pCnMLTwgPiXAV5RZdNW_ftliLC"
+filepath = r"/home/turtlebot/catkin_ws/src/emotion_detector/src/photo.jpg"
+
+boundary = '----------%s' % hex(int(time.time() * 1000))
+data = []
+data.append('--%s' % boundary)
+data.append('Content-Disposition: form-data; name="%s"\r\n' % 'api_key')
+data.append(key)
+data.append('--%s' % boundary)
+data.append('Content-Disposition: form-data; name="%s"\r\n' % 'api_secret')
+data.append(secret)
+data.append('--%s' % boundary)
+#用'rb'方式读取文件
+fr=open(filepath,'rb')
+data.append('Content-Disposition: form-data; name="%s"; filename=" "' % 'image_file')
+data.append('Content-Type: %s\r\n' % 'application/octet-stream')
+data.append(fr.read())
+
+fr.close()
+data.append('--%s' % boundary)
+data.append('Content-Disposition: form-data; name="%s"\r\n' % 'return_landmark')
+#人脸特征点：'2'返回106个，'1'返回83个，'0'不返回
+data.append('0')
+data.append('--%s' % boundary)
+data.append('Content-Disposition: form-data; name="%s"\r\n' % 'return_attributes')
+#请求的数据集（字符串）
+data.append("gender,headpose,emotion,eyegaze")
+data.append('--%s--\r\n' % boundary)
+#python2中data不用decode、encode
+
+http_body='\r\n'.join(data)
+
+#buld http request
+req=urllib2.Request(http_url)
+
+#header
+req.add_header('Content-Type', 'multipart/form-data; boundary=%s' % boundary)
+req.add_data(http_body)
+
+try:
+ #req.add_header('Referer','http://remotserver.com/')
+ #post data to server
+ resp = urllib2.urlopen(req, timeout=5)
+ #get response
+ qrcont=resp.read()
+ print qrcont
+
+except urllib2.HTTPError as e:
+ print e.read()
\ No newline at end of file