From c5c7632776cd9332f9fe071bbf880a83d19eccc2 Mon Sep 17 00:00:00 2001 From: Logical <598669236@qq.com> Date: Fri, 26 Mar 2021 09:17:01 +0800 Subject: [PATCH] =?UTF-8?q?emotion=E2=80=94=E2=80=94detect?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Robot/emotion_detector/CMakeLists.txt | 206 ++++++++++++++++++ src/Robot/emotion_detector/package.xml | 68 ++++++ .../{Emotion.py => src/emotion.py} | 8 +- .../emotion_detector/src/emotion_detector.py | 66 ++++++ src/Robot/emotion_detector/src/photo.py | 63 ++++++ 5 files changed, 404 insertions(+), 7 deletions(-) create mode 100644 src/Robot/emotion_detector/CMakeLists.txt create mode 100644 src/Robot/emotion_detector/package.xml rename src/Robot/emotion_detector/{Emotion.py => src/emotion.py} (97%) create mode 100644 src/Robot/emotion_detector/src/emotion_detector.py create mode 100644 src/Robot/emotion_detector/src/photo.py diff --git a/src/Robot/emotion_detector/CMakeLists.txt b/src/Robot/emotion_detector/CMakeLists.txt new file mode 100644 index 0000000..d3b2147 --- /dev/null +++ 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) diff --git a/src/Robot/emotion_detector/package.xml b/src/Robot/emotion_detector/package.xml new file mode 100644 index 0000000..4151cc2 --- /dev/null +++ b/src/Robot/emotion_detector/package.xml @@ -0,0 +1,68 @@ + + + emotion_detector + 0.0.0 + The emotion_detector package + + + + + turtlebot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/src/Robot/emotion_detector/Emotion.py b/src/Robot/emotion_detector/src/emotion.py similarity index 97% rename from src/Robot/emotion_detector/Emotion.py rename to src/Robot/emotion_detector/src/emotion.py index 643154e..f2ddb2b 100644 --- a/src/Robot/emotion_detector/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() \ No newline at end of file + print e.read() diff --git a/src/Robot/emotion_detector/src/emotion_detector.py b/src/Robot/emotion_detector/src/emotion_detector.py new file mode 100644 index 0000000..d37f6fe --- /dev/null +++ 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()) diff --git a/src/Robot/emotion_detector/src/photo.py b/src/Robot/emotion_detector/src/photo.py new file mode 100644 index 0000000..f5052ee --- /dev/null +++ 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)