emotion——detect

4 years ago · c5c7632776
parent 4b402dacd0
commit c5c7632776
5 changed files with 404 additions and 7 deletions
--- a/src/Robot/emotion_detector/CMakeLists.txt
+++ b/src/Robot/emotion_detector/CMakeLists.txt
@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(emotion_detector)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES emotion_detector
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/emotion_detector.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/emotion_detector_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_emotion_detector.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/src/Robot/emotion_detector/package.xml
+++ b/src/Robot/emotion_detector/package.xml
@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>emotion_detector</name>
+  <version>0.0.0</version>
+  <description>The emotion_detector package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="turtlebot@todo.todo">turtlebot</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/emotion_detector</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/src/Robot/emotion_detector/src/emotion.py
+++ b/src/Robot/emotion_detector/src/emotion.py
@ -1,10 +1,4 @@
 # -*- coding: utf-8 -*-
-"""
-Created on Fri Mar 26 09:03:33 2021
-
-@author: 59866
-"""
-
 import urllib2
 import urllib
 import time
@ -119,4 +113,4 @@ try:
 	print qrcont

 except urllib2.HTTPError as e:
-    print e.read()
+    print e.read()
--- a/src/Robot/emotion_detector/src/emotion_detector.py
+++ b/src/Robot/emotion_detector/src/emotion_detector.py
@ -0,0 +1,66 @@
+# -*- coding: utf-8 -*-
+
+"""
+Created on Sat Mar  6 08:16:29 2021
+
+@author: 59866
+"""
+import urllib
+
+import time
+
+
+
+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/demo-test.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)
+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')
+data.append('0')
+data.append('--%s' % boundary)
+data.append('Content-Disposition: form-data; name="%s"\r\n' % 'return_attributes')
+data.append(
+    "smiling,headpose,eyestatus,emotion,ethnicity")
+data.append('--%s--\r\n' % boundary)
+
+for index, d in enumerate(data):
+    if isinstance(d, str):
+        #data[index] = d.decode('utf-8').encode('utf-8')
+        data[index] = d
+
+http_body = b'\r\n'.join(data)
+
+# build http request
+req = urllib.request.Request(url=http_url, data=http_body)
+
+# header
+req.add_header('Content-Type', 'multipart/form-data; boundary=%s' % boundary)
+
+try:
+    # post data to server
+    resp = urllib.request.urlopen(req, timeout=5)
+    # get response
+    qrcont = resp.read()
+    # if you want to load as json, you should decode first,
+    # for example: json.loads(qrount.decode('utf-8'))
+    #print(qrcont.decode('utf-8'))
+    print(qrcont)
+except urllib.error.HTTPError as e:
+    #print(e.read().decode('utf-8'))
+    print(e.read())
--- a/src/Robot/emotion_detector/src/photo.py
+++ b/src/Robot/emotion_detector/src/photo.py
@ -0,0 +1,63 @@
+# -*- coding: utf-8 -*-
+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)
+        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
+
+if __name__ == '__main__':
+
+    # 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'
+    img_title = rospy.get_param('~image_title', 'photo.jpg') #照片的名字默认为'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)