Merge branch 'emotion_recognition' into 'master'

Emotion recognition

See merge request !1

README.md

-Information about the Emotion recognition package for the SOCRATES Creative Workshop project.
\ No newline at end of file
+Information about the Emotion recognition package for the SOCRATES Creative 
+Workshop project.
+
+The emotion_detection.py file will publish the probability over a set of 
+emotions to the topic /emotions every second.
+
+The emotions are in the format of a Float32MultiArray, such that:
+
+layout: 
+  dim: 
+    - 
+      label: Anger
+      size: 0
+      stride: 0
+    - 
+      label: Happiness
+      size: 0
+      stride: 0
+    - 
+      label: Neutral
+      size: 0
+      stride: 0
+    - 
+      label: Sadness
+      size: 0
+      stride: 0
+    - 
+      label: Surprise
+      size: 0
+      stride: 0
+    - 
+      label: None
+      size: 0
+      stride: 0
+  data_offset: 0
+data: [ X  X  X  X   X   X]
+
+
+where X is some decimal number representing the probability for a corresponding 
+emotion and labels cohere to the sequence in the data i.e. data[0] is for Anger
+etc..
\ No newline at end of file

emotion_detection.py

+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id$
+
+# Modified by Alexander Sutherland 09-10-2017
+
+import rospy
+from genEmotions import get_emotion
+from std_msgs.msg import String, Float32MultiArray, MultiArrayLayout, MultiArrayDimension
+import numpy as np
+
+def emotion_detection():
+    pub = rospy.Publisher('emotions', Float32MultiArray, queue_size=10)
+    
+    rospy.init_node('emotion_detection', anonymous=False)
+    rate = rospy.Rate(1)
+
+    while not rospy.is_shutdown():
+        message = Float32MultiArray(data=get_emotion())
+	message.layout.dim.append(MultiArrayDimension(label="Anger"))
+	message.layout.dim.append(MultiArrayDimension(label="Happiness"))
+	message.layout.dim.append(MultiArrayDimension(label="Neutral"))
+	message.layout.dim.append(MultiArrayDimension(label="Sadness"))
+	message.layout.dim.append(MultiArrayDimension(label="Surprise"))
+	message.layout.dim.append(MultiArrayDimension(label="None"))
+
+        rospy.loginfo(message)
+        pub.publish(message)
+
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        emotion_detection()
+    except rospy.ROSInterruptException:
+        pass

genEmotions.py

+# -*- coding: utf-8 -*-
+"""
+Author: Henrique C. Siqueira
+Modified by: Alexander Sutherland 9/10/2017
+Version: 1.0.0
+
+Creative Workshop - Barcelona
+Description:
+Emotion recognition based on facial expressions.
+Output categories: anger, happiness, neutral, sadness, surprise, and no emotion/face found (None)
+
+Place holder emotion detector that generates a probabilities for emotions
+"""
+
+import numpy as np
+
+
+def get_emotion():
+    to_return = ''
+    emotions = ['Anger', 'Happiness', 'Neutral', 'Sadness', 'Surprise', 'None']
+    probabilities = np.random.rand(6)
+    probabilities = np.exp(probabilities - np.max(probabilities))
+    probabilities = (probabilities / probabilities.sum())
+
+    for i in range(6):
+        to_return += (emotions[i] + '-%.2f;' % (probabilities[i]))
+
+    return probabilities
+
+print(get_emotion())
\ No newline at end of file

listener.py

+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id$
+
+## Simple talker demo that listens to std_msgs/Strings published 
+## to the 'chatter' topic
+
+import rospy
+from std_msgs.msg import String
+
+def callback(data):
+    rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)
+
+def listener():
+
+    # In ROS, nodes are uniquely named. If two nodes with the same
+    # name are launched, the previous one is kicked off. The
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'listener' node so that multiple listeners can
+    # run simultaneously.
+    rospy.init_node('listener', anonymous=True)
+
+    rospy.Subscriber('emotions', String, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()