├── msg ├── Faces.msg ├── ActionUnit.msg └── Face.msg ├── model ├── model_inner │ ├── main_clnf_inner.txt │ ├── clnf_inner.txt │ └── patch_experts │ │ └── ccnf_patches_1.00_inner.txt ├── model_eye │ ├── main_clnf_synth_left.txt │ ├── main_clnf_synth_right.txt │ ├── patch_experts │ │ ├── ccnf_patches_1.00_synth_lid_.txt │ │ ├── ccnf_patches_1.50_synth_lid_.txt │ │ ├── left_ccnf_patches_1.00_synth_lid_.txt │ │ └── left_ccnf_patches_1.50_synth_lid_.txt │ ├── clnf_right_synth.txt │ ├── clnf_left_synth.txt │ └── pdms │ │ ├── pdm_28_l_eye_3D_closed.txt │ │ └── pdm_28_eye_3D_closed.txt ├── main_clm-z.txt ├── patch_experts │ ├── ccnf_patches_1_wild.txt │ ├── ccnf_patches_0.25_wild.txt │ ├── ccnf_patches_0.35_wild.txt │ ├── ccnf_patches_0.5_wild.txt │ ├── ccnf_patches_0.25_general.txt │ ├── ccnf_patches_0.35_general.txt │ └── ccnf_patches_0.5_general.txt ├── main_clm_wild.txt ├── AU_predictors │ ├── svm_combined │ │ ├── AU_10_static.dat │ │ ├── AU_12_static.dat │ │ ├── AU_14_static.dat │ │ ├── AU_15_static.dat │ │ ├── AU_17_static.dat │ │ ├── AU_1_dynamic.dat │ │ ├── AU_1_static.dat │ │ ├── AU_20_static.dat │ │ ├── AU_23_static.dat │ │ ├── AU_25_static.dat │ │ ├── AU_26_static.dat │ │ ├── AU_28_static.dat │ │ ├── AU_2_dynamic.dat │ │ ├── AU_2_static.dat │ │ ├── AU_45_static.dat │ │ ├── AU_4_dynamic.dat │ │ ├── AU_4_static.dat │ │ ├── AU_5_dynamic.dat │ │ ├── AU_5_static.dat │ │ ├── AU_6_dynamic.dat │ │ ├── AU_6_static.dat │ │ ├── AU_7_dynamic.dat │ │ ├── AU_7_static.dat │ │ ├── AU_9_dynamic.dat │ │ ├── AU_9_static.dat │ │ ├── AU_10_dynamic.dat │ │ ├── AU_12_dynamic.dat │ │ ├── AU_14_dynamic.dat │ │ ├── AU_15_dynamic.dat │ │ ├── AU_17_dynamic.dat │ │ ├── AU_20_dynamic.dat │ │ ├── AU_23_dynamic.dat │ │ ├── AU_25_dynamic.dat │ │ ├── AU_26_dynamic.dat │ │ ├── AU_28_dynamic.dat │ │ └── AU_45_dynamic.dat │ ├── svr_combined │ │ ├── AU_14_static_intensity.dat │ │ ├── AU_1_static_intensity.dat │ │ ├── AU_20_static_intensity.dat │ │ ├── AU_25_static_intensity.dat │ │ ├── AU_5_dynamic_intensity.dat │ │ ├── AU_5_static_intensity.dat │ │ ├── AU_9_dynamic_intensity.dat │ │ ├── AU_9_static_intensity.dat │ │ ├── AU_20_dynamic_intensity.dat │ │ ├── AU_10_static_intensity_comb.dat │ │ ├── AU_12_static_intensity_comb.dat │ │ ├── AU_15_static_intensity_comb.dat │ │ ├── AU_17_static_intensity_comb.dat │ │ ├── AU_1_dynamic_intensity_comb.dat │ │ ├── AU_23_static_intensity_comb.dat │ │ ├── AU_26_static_intensity_comb.dat │ │ ├── AU_2_dynamic_intensity_comb.dat │ │ ├── AU_2_static_intensity_comb.dat │ │ ├── AU_45_static_intensity_comb.dat │ │ ├── AU_4_static_intensity_comb.dat │ │ ├── AU_6_static_intensity_comb.dat │ │ ├── AU_7_static_intensity_comb.dat │ │ ├── AU_15_dynamic_intensity_comb.dat │ │ ├── AU_17_dynamic_intensity_comb.dat │ │ ├── AU_23_dynamic_intensity_comb.dat │ │ ├── AU_25_dynamic_intensity_comb.dat │ │ ├── AU_26_dynamic_intensity_comb.dat │ │ └── AU_45_dynamic_intensity_comb.dat │ ├── AU_all_static.txt │ └── AU_all_best.txt ├── haarAlign.txt ├── main_clm_general.txt ├── detection_validation │ ├── validator_general_66.txt │ └── validator_general_68.txt ├── clm_wild.txt ├── clnf_general.txt ├── clm_general.txt ├── clnf_wild.txt ├── main_clnf_wild.txt ├── clm-z.txt ├── main_clnf_general.txt ├── tris_68_full.txt ├── tris_66.txt ├── tris_68.txt └── pdms │ ├── Multi-PIE_aligned_PDM_68.txt │ └── Multi-PIE_aligned_PDM_66.txt ├── package.xml ├── LICENSE ├── CMakeLists.txt ├── README.md └── src └── openface_ros.cpp /msg/Faces.msg: -------------------------------------------------------------------------------- 1 | Face[] faces -------------------------------------------------------------------------------- /model/model_inner/main_clnf_inner.txt: -------------------------------------------------------------------------------- 1 | LandmarkDetector clnf_inner.txt -------------------------------------------------------------------------------- /msg/ActionUnit.msg: 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-------------------------------------------------------------------------------- 1 | PDM pdms/In-the-wild_aligned_PDM_68.txt 2 | Triangulations tris_68.txt 3 | PatchesIntensity patch_experts/svr_patches_0.25_wild.txt 4 | PatchesIntensity patch_experts/svr_patches_0.35_wild.txt 5 | PatchesIntensity patch_experts/svr_patches_0.5_wild.txt -------------------------------------------------------------------------------- /model/clnf_general.txt: -------------------------------------------------------------------------------- 1 | PDM pdms/In-the-wild_aligned_PDM_68.txt 2 | Triangulations tris_68.txt 3 | PatchesCCNF patch_experts/ccnf_patches_0.25_general.txt 4 | PatchesCCNF patch_experts/ccnf_patches_0.35_general.txt 5 | PatchesCCNF patch_experts/ccnf_patches_0.5_general.txt 6 | -------------------------------------------------------------------------------- /model/clm_general.txt: -------------------------------------------------------------------------------- 1 | PDM pdms/In-the-wild_aligned_PDM_68.txt 2 | Triangulations tris_68.txt 3 | PatchesIntensity patch_experts/svr_patches_0.25_general.txt 4 | PatchesIntensity patch_experts/svr_patches_0.35_general.txt 5 | PatchesIntensity patch_experts/svr_patches_0.5_general.txt -------------------------------------------------------------------------------- /msg/Face.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | geometry_msgs/Vector3 left_gaze 4 | geometry_msgs/Vector3 right_gaze 5 | 6 | geometry_msgs/Pose head_pose 7 | 8 | geometry_msgs/Point[] landmarks_3d 9 | geometry_msgs/Point[] landmarks_2d 10 | 11 | openface_ros/ActionUnit[] action_units -------------------------------------------------------------------------------- /model/clnf_wild.txt: -------------------------------------------------------------------------------- 1 | PDM pdms/In-the-wild_aligned_PDM_68.txt 2 | Triangulations tris_68.txt 3 | PatchesCCNF patch_experts/ccnf_patches_0.25_wild.txt 4 | PatchesCCNF patch_experts/ccnf_patches_0.35_wild.txt 5 | PatchesCCNF patch_experts/ccnf_patches_0.5_wild.txt 6 | PatchesCCNF patch_experts/ccnf_patches_1_wild.txt 7 | -------------------------------------------------------------------------------- /model/main_clnf_wild.txt: -------------------------------------------------------------------------------- 1 | LandmarkDetector clnf_wild.txt 2 | LandmarkDetector_part model_eye/main_clnf_synth_left.txt left_eye_28 36 8 37 10 38 12 39 14 40 16 41 18 3 | LandmarkDetector_part model_eye/main_clnf_synth_right.txt right_eye_28 42 8 43 10 44 12 45 14 46 16 47 18 4 | FaceDetConversion haarAlign.txt 5 | DetectionValidator detection_validation/validator_general_68.txt -------------------------------------------------------------------------------- /model/clm-z.txt: -------------------------------------------------------------------------------- 1 | PDM pdms/Multi-PIE_aligned_PDM_66.txt 2 | Triangulations tris_66.txt 3 | PatchesIntensity patch_experts/intensity_patches_0.25.txt 4 | PatchesIntensity patch_experts/intensity_patches_0.35.txt 5 | PatchesIntensity patch_experts/intensity_patches_0.5.txt 6 | PatchesDepth patch_experts/depth_patches_0.25.txt 7 | PatchesDepth patch_experts/depth_patches_0.35.txt 8 | PatchesDepth patch_experts/depth_patches_0.5.txt -------------------------------------------------------------------------------- /model/main_clnf_general.txt: -------------------------------------------------------------------------------- 1 | LandmarkDetector clnf_general.txt 2 | LandmarkDetector_part model_inner/main_clnf_inner.txt inner 17 0 18 1 19 2 20 3 21 4 22 5 23 6 24 7 25 8 26 9 27 10 28 11 29 12 30 13 31 14 32 15 33 16 34 17 35 18 36 19 37 20 38 21 39 22 40 23 41 24 42 25 43 26 44 27 45 28 46 29 47 30 48 31 49 32 50 33 51 34 52 35 53 36 54 37 55 38 56 39 57 40 58 41 59 42 60 43 61 44 62 45 63 46 64 47 65 48 66 49 67 50 3 | LandmarkDetector_part model_eye/main_clnf_synth_left.txt left_eye_28 36 8 37 10 38 12 39 14 40 16 41 18 4 | LandmarkDetector_part model_eye/main_clnf_synth_right.txt right_eye_28 42 8 43 10 44 12 45 14 46 16 47 18 5 | FaceDetConversion haarAlign.txt 6 | DetectionValidator detection_validation/validator_general_68.txt -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | openface_ros 4 | 0.0.0 5 | The openface_ros package 6 | 7 | Braden McDorman 8 | Apache 2 9 | 10 | Braden McDorman 11 | 12 | catkin 13 | std_msgs 14 | geometry_msgs 15 | sensor_msgs 16 | image_transport 17 | cv_bridge 18 | message_generation 19 | roscpp 20 | tf2 21 | tf2_ros 22 | message_runtime 23 | roscpp 24 | image_transport 25 | cv_bridge 26 | tf2 27 | tf2_ros 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2016, Braden McDorman. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 5 | 6 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 7 | 8 | 2. 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. 9 | 10 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 11 | 12 | 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 HOLDER 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. 13 | -------------------------------------------------------------------------------- /model/AU_predictors/AU_all_static.txt: -------------------------------------------------------------------------------- 1 | svm_combined/AU_1_static.dat AU01 2 | svm_combined/AU_2_static.dat AU02 3 | svm_combined/AU_4_static.dat AU04 4 | svm_combined/AU_5_static.dat AU05 5 | svm_combined/AU_6_static.dat AU06 6 | svm_combined/AU_7_static.dat AU07 7 | svm_combined/AU_9_static.dat AU09 8 | svm_combined/AU_10_static.dat AU10 9 | svm_combined/AU_12_static.dat AU12 10 | svm_combined/AU_14_static.dat AU14 11 | svm_combined/AU_15_static.dat AU15 12 | svm_combined/AU_17_static.dat AU17 13 | svm_combined/AU_20_static.dat AU20 14 | svm_combined/AU_23_static.dat AU23 15 | svm_combined/AU_25_static.dat AU25 16 | svm_combined/AU_26_static.dat AU26 17 | svm_combined/AU_28_static.dat AU28 18 | svm_combined/AU_45_static.dat AU45 19 | svr_combined/AU_1_static_intensity.dat AU01 20 | svr_combined/AU_2_static_intensity_comb.dat AU02 21 | svr_combined/AU_4_static_intensity_comb.dat AU04 22 | svr_combined/AU_5_static_intensity.dat AU05 23 | svr_combined/AU_6_static_intensity_comb.dat AU06 24 | svr_combined/AU_7_static_intensity_comb.dat AU07 25 | svr_combined/AU_9_static_intensity.dat AU09 26 | svr_combined/AU_10_static_intensity_comb.dat AU10 27 | svr_combined/AU_12_static_intensity_comb.dat AU12 28 | svr_combined/AU_14_static_intensity.dat AU14 29 | svr_combined/AU_15_static_intensity_comb.dat AU15 30 | svr_combined/AU_17_static_intensity_comb.dat AU17 31 | svr_combined/AU_20_static_intensity.dat AU20 32 | svr_combined/AU_23_static_intensity_comb.dat AU23 33 | svr_combined/AU_25_static_intensity.dat AU25 34 | svr_combined/AU_26_static_intensity_comb.dat AU26 35 | svr_combined/AU_45_static_intensity_comb.dat AU45 -------------------------------------------------------------------------------- /model/AU_predictors/AU_all_best.txt: -------------------------------------------------------------------------------- 1 | svm_combined/AU_1_dynamic.dat AU01 2 | svm_combined/AU_2_dynamic.dat AU02 3 | svm_combined/AU_4_static.dat AU04 4 | svm_combined/AU_5_static.dat AU05 5 | svm_combined/AU_6_static.dat AU06 6 | svm_combined/AU_7_static.dat AU07 7 | svm_combined/AU_9_dynamic.dat AU09 8 | svm_combined/AU_10_static.dat AU10 9 | svm_combined/AU_12_static.dat AU12 10 | svm_combined/AU_14_static.dat AU14 11 | svm_combined/AU_15_dynamic.dat AU15 12 | svm_combined/AU_17_dynamic.dat AU17 13 | svm_combined/AU_20_dynamic.dat AU20 14 | svm_combined/AU_23_static.dat AU23 15 | svm_combined/AU_25_dynamic.dat AU25 16 | svm_combined/AU_26_dynamic.dat AU26 17 | svm_combined/AU_28_static.dat AU28 18 | svm_combined/AU_45_dynamic.dat AU45 19 | svr_combined/AU_1_dynamic_intensity_comb.dat AU01 20 | svr_combined/AU_2_dynamic_intensity_comb.dat AU02 21 | svr_combined/AU_4_static_intensity_comb.dat AU04 22 | svr_combined/AU_5_dynamic_intensity.dat AU05 23 | svr_combined/AU_6_static_intensity_comb.dat AU06 24 | svr_combined/AU_7_static_intensity_comb.dat AU07 25 | svr_combined/AU_9_dynamic_intensity.dat AU09 26 | svr_combined/AU_10_static_intensity_comb.dat AU10 27 | svr_combined/AU_12_static_intensity_comb.dat AU12 28 | svr_combined/AU_14_static_intensity.dat AU14 29 | svr_combined/AU_15_dynamic_intensity_comb.dat AU15 30 | svr_combined/AU_17_dynamic_intensity_comb.dat AU17 31 | svr_combined/AU_20_dynamic_intensity.dat AU20 32 | svr_combined/AU_23_dynamic_intensity_comb.dat AU23 33 | svr_combined/AU_25_dynamic_intensity_comb.dat AU25 34 | svr_combined/AU_26_dynamic_intensity_comb.dat AU26 35 | svr_combined/AU_45_dynamic_intensity_comb.dat AU45 -------------------------------------------------------------------------------- /model/tris_68_full.txt: -------------------------------------------------------------------------------- 1 | 111 2 | 3 3 | 4 4 | 58 67 59 5 | 60 49 48 6 | 58 59 6 7 | 34 52 35 8 | 44 45 25 9 | 39 40 29 10 | 37 18 36 11 | 27 42 22 12 | 23 44 24 13 | 41 36 1 14 | 50 62 51 15 | 56 65 66 16 | 57 58 7 17 | 64 53 63 18 | 28 27 39 19 | 52 34 51 20 | 54 14 35 21 | 29 42 28 22 | 19 20 24 23 | 35 15 46 24 | 37 19 18 25 | 36 0 1 26 | 18 17 36 27 | 37 20 19 28 | 38 20 37 29 | 21 20 38 30 | 21 38 39 31 | 24 44 25 32 | 30 34 35 33 | 21 39 27 34 | 28 42 27 35 | 39 29 28 36 | 29 30 35 37 | 31 30 29 38 | 30 33 34 39 | 31 29 40 40 | 36 17 0 41 | 41 31 40 42 | 31 32 30 43 | 31 41 1 44 | 49 31 48 45 | 48 2 3 46 | 67 60 59 47 | 4 48 3 48 | 5 48 4 49 | 6 59 5 50 | 59 48 5 51 | 60 48 59 52 | 7 58 6 53 | 61 49 60 54 | 58 66 67 55 | 31 2 48 56 | 31 50 32 57 | 1 2 31 58 | 61 50 49 59 | 52 62 63 60 | 50 31 49 61 | 34 33 51 62 | 51 62 52 63 | 32 50 51 64 | 50 61 62 65 | 63 53 52 66 | 54 55 11 67 | 57 8 9 68 | 66 58 57 69 | 8 57 7 70 | 56 57 9 71 | 66 57 56 72 | 10 56 9 73 | 55 56 10 74 | 53 54 35 75 | 53 35 52 76 | 12 54 11 77 | 55 10 11 78 | 65 56 55 79 | 64 55 54 80 | 65 55 64 81 | 54 53 64 82 | 12 13 54 83 | 14 54 13 84 | 15 35 14 85 | 47 35 46 86 | 33 32 51 87 | 30 32 33 88 | 29 35 47 89 | 15 45 46 90 | 22 21 27 91 | 20 21 23 92 | 43 23 22 93 | 29 47 42 94 | 23 21 22 95 | 24 20 23 96 | 22 42 43 97 | 23 43 44 98 | 45 16 26 99 | 15 16 45 100 | 25 45 26 101 | 41 36 37 102 | 40 41 37 103 | 38 40 37 104 | 39 40 38 105 | 47 42 43 106 | 46 47 43 107 | 46 43 44 108 | 45 46 44 109 | 67 60 61 110 | 66 67 61 111 | 62 66 61 112 | 65 66 62 113 | 63 65 62 114 | 64 65 63 -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(openface_ros) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | message_generation 6 | message_runtime 7 | image_transport 8 | cv_bridge 9 | std_msgs 10 | geometry_msgs 11 | sensor_msgs 12 | roscpp 13 | tf2 14 | tf2_ros 15 | ) 16 | 17 | find_package(Boost REQUIRED COMPONENTS filesystem) 18 | find_package(OpenCV 3 REQUIRED) 19 | find_package(Eigen3 REQUIRED) 20 | find_library(OPENFACE_FA_LIB FaceAnalyser PATH_SUFFIXES openface) 21 | find_library(OPENFACE_LD_LIB LandmarkDetector PATH_SUFFIXES openface) 22 | set(OPENFACE_LIBS ${OPENFACE_FA_LIB} ${OPENFACE_LD_LIB}) 23 | 24 | find_file(OPENLIB_FA_INCLUDE FaceAnalyser.h PATH_SUFFIXES openface) 25 | get_filename_component(OPENLIB_PATH ${OPENLIB_FA_INCLUDE} DIRECTORY) 26 | message(${OPENLIB_PATH}) 27 | get_filename_component(OPENLIB_INCLUDE_DIR ${OPENLIB_PATH} DIRECTORY) 28 | message(${OPENLIB_INCLUDE_DIR}) 29 | message(${CMAKE_C_COMPILER}) 30 | 31 | find_package(dlib REQUIRED) 32 | 33 | add_message_files(FILES ActionUnit.msg Face.msg Faces.msg) 34 | generate_messages(DEPENDENCIES std_msgs geometry_msgs) 35 | 36 | add_definitions(-std=c++11) 37 | add_definitions(-g -pg) 38 | link_directories(${Boost_LIBRARY_DIRS}) 39 | include_directories( 40 | include 41 | ${catkin_INCLUDE_DIRS} 42 | ${OPENLIB_INCLUDE_DIR} 43 | ${DLIB_INCLUDE_DIR} 44 | ${Boost_INCLUDE_DIRS} 45 | ${OpenCV_INCLUDE_DIRS} 46 | ${EIGEN3_INCLUDE_DIR} 47 | ) 48 | add_executable(openface_ros src/openface_ros.cpp) 49 | add_dependencies(openface_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 50 | target_link_libraries(openface_ros 51 | ${catkin_LIBRARIES} 52 | 53 | ${OPENFACE_LIBS} 54 | lapack 55 | openblas 56 | dlib 57 | ${DLIB_LIBRARIES} 58 | ${Boost_LIBRARIES} 59 | ${OpenCV_LIBRARIES} 60 | tbb 61 | tbbmalloc 62 | tbbmalloc_proxy 63 | ) 64 | 65 | install(TARGETS openface_ros 66 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 67 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 68 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 69 | ) 70 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # OpenFace for ROS 2 | 3 | This is a small ROS node that exposes OpenFace over ROS. In particular, given a image of a face, it will output: 4 | * Eye Gaze Vectors 5 | * Head Pose 6 | * 2D Landmarks 7 | * 3D Landmarks 8 | * Action Units 9 | * Debug Visualization (optional) 10 | 11 | This repository expects [Interaction Lab's fork of OpenFace](https://github.com/interaction-lab/OpenFace) and [OpenCV 3](https://github.com/opencv/opencv) to be installed. 12 | 13 | Dependencies of OpenFace include: 14 | * `dlib` 15 | * Boost Filesystem 16 | * `tbb` 17 | * OpenCV 3 18 | 19 | ## ROS Parameters 20 | 21 | ### Required 22 | * `~image_topic` - The topic the image is provided on (e.g. `/usb_cam/image_raw`). 23 | 24 | ### Optional 25 | * `~clnf_model_path` - Provide an alternate CLNF model to OpenFace. 26 | * `~tri_model_path` - Provide an alternate tri model to OpenFace. 27 | * `~au_model_path` - Provide an alternate AU model to OpenFace. 28 | * `~haar_model_path` - Provide an alternate HAAR model to OpenFace. 29 | * `~publish_viz` - Set to `true` to publish a debug visualization (default: `false`). 30 | 31 | ## Installation 32 | * Install all dependencies (see below) 33 | * Clone [Interaction Lab's fork of OpenFace](https://github.com/interaction-lab/OpenFace), follow installation instructions, then `sudo make install` at the end 34 | * Clone & re-compile `cv_bridge` ([in `vision_opencv` stack](http://wiki.ros.org/vision_opencv)) - be sure to clone vision\_opencv in the src directory of your catkin workspace. 35 | * Clone [`usb_cam` ros node](http://wiki.ros.org/usb_cam) or other ros node of your choice for interfacing with USB camera 36 | 37 | ### Dependencies 38 | * OpenCV 3 (If installing from source, make sure to run cmake as follows: `cmake -DBUILD_SHARED_LIBS=ON ..⁠⁠⁠⁠` 39 | * dlib (You should be able to install from apt-get, if not, clone and install from source) 40 | 41 | ### Running 42 | * `roscore` 43 | * `rosrun usb_cam usb_cam_node` 44 | * `rosrun openface_ros openface_ros _image_topic:="/usb_cam/image_raw"` 45 | 46 | ### Notes 47 | 48 | This node requires `cv_bridge` *and* OpenCV 3. You must ensure that `cv_bridge` is also linked against OpenCV 3. If you get a warning during compilation, you may have to manually clone the `vision_opencv` repository and re-build `cv_bridge`. 49 | 50 | ### Issues 51 | 52 | If running `openface_ros` results in a segfault or you see the following lines when running `catkin_make`: 53 | 54 | /usr/bin/ld: warning: libopencv_imgproc.so.2.4, needed by /opt/ros/indigo/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.1 55 | /usr/bin/ld: warning: libopencv_highgui.so.2.4, needed by /opt/ros/indigo/lib/libcv_bridge.so, may conflict with libopencv_highgui.so.3.1 56 | /usr/bin/ld: warning: libopencv_calib3d.so.2.4, needed by /usr/lib/x86_64-linux-gnu/libopencv_contrib.so.2.4.8, may conflict with libopencv_calib3d.so.3.1 57 | 58 | then openface ros is linking against OpenCV2 instead of OpenCV3. To fix this: update cmake to at least 3.6.2, rebuild OpenCV3, clone vision\_opencv into the src folder of your catkin workspace, then recompile cv\_bridge. Remake your catkin workspace, and the segfault and warnings should have been resolved. 59 | 60 | ## Messages 61 | 62 | ### FaceFeatures 63 | ``` 64 | std_msgs/Header header 65 | 66 | geometry_msgs/Vector3 left_gaze 67 | geometry_msgs/Vector3 right_gaze 68 | 69 | geometry_msgs/Pose head_pose 70 | 71 | geometry_msgs/Point[] landmarks_3d 72 | geometry_msgs/Point[] landmarks_2d 73 | 74 | openface_ros/ActionUnit[] action_units 75 | ``` 76 | 77 | ### ActionUnit 78 | ``` 79 | string name 80 | float64 presence 81 | float64 intensity 82 | ``` 83 | -------------------------------------------------------------------------------- /model/tris_66.txt: -------------------------------------------------------------------------------- 1 | # Number of triangulations 2 | 7 3 | # Triangulation 1 4 | # triangulation 5 | 91 6 | 3 7 | 4 8 | 23 20 21 9 | 23 21 22 10 | 36 0 1 11 | 15 16 45 12 | 17 0 36 13 | 16 26 45 14 | 18 17 37 15 | 26 25 44 16 | 37 17 36 17 | 45 26 44 18 | 19 18 38 19 | 25 24 43 20 | 38 18 37 21 | 44 25 43 22 | 20 19 38 23 | 24 23 43 24 | 21 20 39 25 | 23 22 42 26 | 39 20 38 27 | 43 23 42 28 | 22 21 27 29 | 27 21 39 30 | 22 27 42 31 | 27 28 42 32 | 28 27 39 33 | 42 28 47 34 | 28 39 40 35 | 36 1 41 36 | 46 15 45 37 | 41 1 2 38 | 14 15 46 39 | 29 28 40 40 | 28 29 47 41 | 41 2 40 42 | 47 14 46 43 | 2 29 40 44 | 29 14 47 45 | 29 2 3 46 | 13 14 29 47 | 30 29 31 48 | 35 29 30 49 | 29 3 31 50 | 35 13 29 51 | 33 30 32 52 | 34 30 33 53 | 32 30 31 54 | 35 30 34 55 | 31 3 4 56 | 12 13 35 57 | 4 5 48 58 | 11 12 54 59 | 5 6 48 60 | 10 11 54 61 | 48 6 59 62 | 55 10 54 63 | 6 7 59 64 | 9 10 55 65 | 59 7 58 66 | 56 9 55 67 | 58 8 57 68 | 57 8 56 69 | 7 8 58 70 | 8 9 56 71 | 31 4 48 72 | 54 12 35 73 | 49 31 48 74 | 54 35 53 75 | 50 31 49 76 | 53 35 52 77 | 32 31 50 78 | 35 34 52 79 | 33 32 50 80 | 34 33 52 81 | 51 33 50 82 | 52 33 51 83 | 49 48 60 84 | 50 49 60 85 | 61 50 60 86 | 51 50 61 87 | 52 51 61 88 | 61 62 52 89 | 53 52 62 90 | 54 53 62 91 | 55 54 63 92 | 56 55 63 93 | 64 56 63 94 | 57 56 64 95 | 64 65 57 96 | 58 57 65 97 | 59 58 65 98 | 65 48 59 99 | # Triangulation 2 100 | # triangulation 101 | 90 102 | 3 103 | 4 104 | 23 20 21 105 | 23 21 22 106 | 36 0 1 107 | 15 16 45 108 | 17 0 36 109 | 16 26 45 110 | 18 17 37 111 | 26 25 44 112 | 37 17 36 113 | 45 26 44 114 | 19 18 38 115 | 25 24 43 116 | 38 18 37 117 | 44 25 43 118 | 20 19 38 119 | 24 23 43 120 | 21 20 39 121 | 23 22 42 122 | 39 20 38 123 | 43 23 42 124 | 22 21 27 125 | 27 21 39 126 | 22 27 42 127 | 27 28 42 128 | 28 27 39 129 | 42 28 47 130 | 28 39 40 131 | 36 1 41 132 | 46 15 45 133 | 41 1 2 134 | 14 15 46 135 | 29 28 40 136 | 28 29 47 137 | 41 2 40 138 | 47 14 46 139 | 2 29 40 140 | 29 14 47 141 | 29 2 3 142 | 13 14 29 143 | 30 29 31 144 | 29 3 31 145 | 35 13 29 146 | 33 30 32 147 | 34 30 33 148 | 32 30 31 149 | 35 30 34 150 | 31 3 4 151 | 12 13 35 152 | 4 5 48 153 | 11 12 54 154 | 5 6 48 155 | 10 11 54 156 | 48 6 59 157 | 55 10 54 158 | 6 7 59 159 | 9 10 55 160 | 59 7 58 161 | 56 9 55 162 | 58 8 57 163 | 57 8 56 164 | 7 8 58 165 | 8 9 56 166 | 31 4 48 167 | 54 12 35 168 | 49 31 48 169 | 54 35 53 170 | 50 31 49 171 | 53 35 52 172 | 32 31 50 173 | 35 34 52 174 | 33 32 50 175 | 34 33 52 176 | 51 33 50 177 | 52 33 51 178 | 49 48 60 179 | 50 49 60 180 | 61 50 60 181 | 51 50 61 182 | 52 51 61 183 | 61 62 52 184 | 53 52 62 185 | 54 53 62 186 | 55 54 63 187 | 56 55 63 188 | 64 56 63 189 | 57 56 64 190 | 64 65 57 191 | 58 57 65 192 | 59 58 65 193 | 65 48 59 194 | # Triangulation 3 195 | # triangulation 196 | 77 197 | 3 198 | 4 199 | 23 20 21 200 | 23 21 22 201 | 36 0 1 202 | 17 0 36 203 | 18 17 37 204 | 26 25 44 205 | 37 17 36 206 | 45 26 44 207 | 19 18 38 208 | 25 24 43 209 | 38 18 37 210 | 44 25 43 211 | 20 19 38 212 | 24 23 43 213 | 21 20 39 214 | 23 22 42 215 | 39 20 38 216 | 43 23 42 217 | 22 21 27 218 | 27 21 39 219 | 22 27 42 220 | 27 28 42 221 | 28 27 39 222 | 42 28 47 223 | 28 39 40 224 | 36 1 41 225 | 46 15 45 226 | 41 1 2 227 | 29 28 40 228 | 28 29 47 229 | 41 2 40 230 | 47 14 46 231 | 2 29 40 232 | 29 2 3 233 | 30 29 31 234 | 29 3 31 235 | 33 30 32 236 | 34 30 33 237 | 32 30 31 238 | 35 30 34 239 | 31 3 4 240 | 4 5 48 241 | 5 6 48 242 | 48 6 59 243 | 6 7 59 244 | 59 7 58 245 | 56 9 55 246 | 58 8 57 247 | 57 8 56 248 | 7 8 58 249 | 8 9 56 250 | 31 4 48 251 | 49 31 48 252 | 50 31 49 253 | 53 35 52 254 | 32 31 50 255 | 35 34 52 256 | 33 32 50 257 | 34 33 52 258 | 51 33 50 259 | 52 33 51 260 | 49 48 60 261 | 50 49 60 262 | 61 50 60 263 | 51 50 61 264 | 52 51 61 265 | 61 62 52 266 | 53 52 62 267 | 54 53 62 268 | 55 54 63 269 | 56 55 63 270 | 64 56 63 271 | 57 56 64 272 | 64 65 57 273 | 58 57 65 274 | 59 58 65 275 | 65 48 59 276 | # Triangulation 4 277 | # triangulation 278 | 28 279 | 3 280 | 4 281 | 36 0 1 282 | 17 0 36 283 | 18 17 37 284 | 37 17 36 285 | 19 18 38 286 | 38 18 37 287 | 20 19 38 288 | 36 1 41 289 | 41 1 2 290 | 29 28 40 291 | 41 2 40 292 | 2 29 40 293 | 29 2 3 294 | 30 29 31 295 | 29 3 31 296 | 31 3 4 297 | 4 5 48 298 | 5 6 48 299 | 48 6 59 300 | 6 7 59 301 | 59 7 58 302 | 58 8 57 303 | 7 8 58 304 | 31 4 48 305 | 49 31 48 306 | 50 31 49 307 | 51 33 50 308 | 51 50 61 309 | # Triangulation 5 310 | # triangulation 311 | 90 312 | 3 313 | 4 314 | 23 20 21 315 | 23 21 22 316 | 36 0 1 317 | 15 16 45 318 | 17 0 36 319 | 16 26 45 320 | 18 17 37 321 | 26 25 44 322 | 37 17 36 323 | 45 26 44 324 | 19 18 38 325 | 25 24 43 326 | 38 18 37 327 | 44 25 43 328 | 20 19 38 329 | 24 23 43 330 | 21 20 39 331 | 23 22 42 332 | 39 20 38 333 | 43 23 42 334 | 22 21 27 335 | 27 21 39 336 | 22 27 42 337 | 27 28 42 338 | 28 27 39 339 | 42 28 47 340 | 28 39 40 341 | 36 1 41 342 | 46 15 45 343 | 41 1 2 344 | 14 15 46 345 | 29 28 40 346 | 28 29 47 347 | 41 2 40 348 | 47 14 46 349 | 2 29 40 350 | 29 14 47 351 | 29 2 3 352 | 13 14 29 353 | 35 29 30 354 | 29 3 31 355 | 35 13 29 356 | 33 30 32 357 | 34 30 33 358 | 32 30 31 359 | 35 30 34 360 | 31 3 4 361 | 12 13 35 362 | 4 5 48 363 | 11 12 54 364 | 5 6 48 365 | 10 11 54 366 | 48 6 59 367 | 55 10 54 368 | 6 7 59 369 | 9 10 55 370 | 59 7 58 371 | 56 9 55 372 | 58 8 57 373 | 57 8 56 374 | 7 8 58 375 | 8 9 56 376 | 31 4 48 377 | 54 12 35 378 | 49 31 48 379 | 54 35 53 380 | 50 31 49 381 | 53 35 52 382 | 32 31 50 383 | 35 34 52 384 | 33 32 50 385 | 34 33 52 386 | 51 33 50 387 | 52 33 51 388 | 49 48 60 389 | 50 49 60 390 | 61 50 60 391 | 51 50 61 392 | 52 51 61 393 | 61 62 52 394 | 53 52 62 395 | 54 53 62 396 | 55 54 63 397 | 56 55 63 398 | 64 56 63 399 | 57 56 64 400 | 64 65 57 401 | 58 57 65 402 | 59 58 65 403 | 65 48 59 404 | # Triangulation 6 405 | # triangulation 406 | 77 407 | 3 408 | 4 409 | 23 20 21 410 | 23 21 22 411 | 15 16 45 412 | 16 26 45 413 | 18 17 37 414 | 26 25 44 415 | 37 17 36 416 | 45 26 44 417 | 19 18 38 418 | 25 24 43 419 | 38 18 37 420 | 44 25 43 421 | 20 19 38 422 | 24 23 43 423 | 21 20 39 424 | 23 22 42 425 | 39 20 38 426 | 43 23 42 427 | 22 21 27 428 | 27 21 39 429 | 22 27 42 430 | 27 28 42 431 | 28 27 39 432 | 42 28 47 433 | 28 39 40 434 | 36 1 41 435 | 46 15 45 436 | 14 15 46 437 | 29 28 40 438 | 28 29 47 439 | 41 2 40 440 | 47 14 46 441 | 29 14 47 442 | 13 14 29 443 | 35 29 30 444 | 35 13 29 445 | 33 30 32 446 | 34 30 33 447 | 32 30 31 448 | 35 30 34 449 | 12 13 35 450 | 11 12 54 451 | 10 11 54 452 | 55 10 54 453 | 9 10 55 454 | 59 7 58 455 | 56 9 55 456 | 58 8 57 457 | 57 8 56 458 | 7 8 58 459 | 8 9 56 460 | 54 12 35 461 | 54 35 53 462 | 50 31 49 463 | 53 35 52 464 | 32 31 50 465 | 35 34 52 466 | 33 32 50 467 | 34 33 52 468 | 51 33 50 469 | 52 33 51 470 | 49 48 60 471 | 50 49 60 472 | 61 50 60 473 | 51 50 61 474 | 52 51 61 475 | 61 62 52 476 | 53 52 62 477 | 54 53 62 478 | 55 54 63 479 | 56 55 63 480 | 64 56 63 481 | 57 56 64 482 | 64 65 57 483 | 58 57 65 484 | 59 58 65 485 | 65 48 59 486 | # Triangulation 7 487 | # triangulation 488 | 28 489 | 3 490 | 4 491 | 15 16 45 492 | 16 26 45 493 | 26 25 44 494 | 45 26 44 495 | 25 24 43 496 | 44 25 43 497 | 24 23 43 498 | 46 15 45 499 | 14 15 46 500 | 28 29 47 501 | 47 14 46 502 | 29 14 47 503 | 13 14 29 504 | 35 29 30 505 | 35 13 29 506 | 12 13 35 507 | 11 12 54 508 | 10 11 54 509 | 55 10 54 510 | 9 10 55 511 | 56 9 55 512 | 57 8 56 513 | 8 9 56 514 | 54 12 35 515 | 54 35 53 516 | 53 35 52 517 | 52 33 51 518 | 52 51 61 519 | -------------------------------------------------------------------------------- /model/tris_68.txt: -------------------------------------------------------------------------------- 1 | # Number of triangulations 2 | 7 3 | # Triangulation 1 4 | # triangulation 5 | 97 6 | 3 7 | 4 8 | 58 67 59 9 | 60 49 48 10 | 58 59 6 11 | 34 52 35 12 | 44 45 25 13 | 39 40 29 14 | 37 18 36 15 | 27 42 22 16 | 23 44 24 17 | 41 36 1 18 | 50 62 51 19 | 56 65 66 20 | 57 58 7 21 | 64 53 63 22 | 28 27 39 23 | 52 34 51 24 | 54 14 35 25 | 29 42 28 26 | 19 20 24 27 | 35 15 46 28 | 37 19 18 29 | 36 0 1 30 | 18 17 36 31 | 37 20 19 32 | 38 20 37 33 | 21 20 38 34 | 21 38 39 35 | 24 44 25 36 | 30 34 35 37 | 21 39 27 38 | 28 42 27 39 | 39 29 28 40 | 29 30 35 41 | 31 30 29 42 | 30 33 34 43 | 31 29 40 44 | 36 17 0 45 | 41 31 40 46 | 31 32 30 47 | 31 41 1 48 | 49 31 48 49 | 48 2 3 50 | 67 60 59 51 | 4 48 3 52 | 5 48 4 53 | 6 59 5 54 | 59 48 5 55 | 60 48 59 56 | 7 58 6 57 | 61 49 60 58 | 58 66 67 59 | 31 2 48 60 | 31 50 32 61 | 1 2 31 62 | 61 50 49 63 | 52 62 63 64 | 50 31 49 65 | 34 33 51 66 | 51 62 52 67 | 32 50 51 68 | 50 61 62 69 | 63 53 52 70 | 54 55 11 71 | 57 8 9 72 | 66 58 57 73 | 8 57 7 74 | 56 57 9 75 | 66 57 56 76 | 10 56 9 77 | 55 56 10 78 | 53 54 35 79 | 53 35 52 80 | 12 54 11 81 | 55 10 11 82 | 65 56 55 83 | 64 55 54 84 | 65 55 64 85 | 54 53 64 86 | 12 13 54 87 | 14 54 13 88 | 15 35 14 89 | 47 35 46 90 | 33 32 51 91 | 30 32 33 92 | 29 35 47 93 | 15 45 46 94 | 22 21 27 95 | 20 21 23 96 | 43 23 22 97 | 29 47 42 98 | 23 21 22 99 | 24 20 23 100 | 22 42 43 101 | 23 43 44 102 | 45 16 26 103 | 15 16 45 104 | 25 45 26 105 | # Triangulation 2 106 | # triangulation 107 | 97 108 | 3 109 | 4 110 | 58 67 59 111 | 60 49 48 112 | 58 59 6 113 | 34 52 35 114 | 44 45 25 115 | 39 40 29 116 | 37 18 36 117 | 27 42 22 118 | 23 44 24 119 | 41 36 1 120 | 50 62 51 121 | 56 65 66 122 | 57 58 7 123 | 64 53 63 124 | 28 27 39 125 | 52 34 51 126 | 54 14 35 127 | 29 42 28 128 | 19 20 24 129 | 35 15 46 130 | 37 19 18 131 | 36 0 1 132 | 18 17 36 133 | 37 20 19 134 | 38 20 37 135 | 21 20 38 136 | 21 38 39 137 | 24 44 25 138 | 30 34 35 139 | 21 39 27 140 | 28 42 27 141 | 39 29 28 142 | 29 30 35 143 | 31 30 29 144 | 30 33 34 145 | 31 29 40 146 | 36 17 0 147 | 41 31 40 148 | 31 32 30 149 | 31 41 1 150 | 49 31 48 151 | 48 2 3 152 | 67 60 59 153 | 4 48 3 154 | 5 48 4 155 | 6 59 5 156 | 59 48 5 157 | 60 48 59 158 | 7 58 6 159 | 61 49 60 160 | 58 66 67 161 | 31 2 48 162 | 31 50 32 163 | 1 2 31 164 | 61 50 49 165 | 52 62 63 166 | 50 31 49 167 | 34 33 51 168 | 51 62 52 169 | 32 50 51 170 | 50 61 62 171 | 63 53 52 172 | 54 55 11 173 | 57 8 9 174 | 66 58 57 175 | 8 57 7 176 | 56 57 9 177 | 66 57 56 178 | 10 56 9 179 | 55 56 10 180 | 53 54 35 181 | 53 35 52 182 | 12 54 11 183 | 55 10 11 184 | 65 56 55 185 | 64 55 54 186 | 65 55 64 187 | 54 53 64 188 | 12 13 54 189 | 14 54 13 190 | 15 35 14 191 | 47 35 46 192 | 33 32 51 193 | 30 32 33 194 | 29 35 47 195 | 15 45 46 196 | 22 21 27 197 | 20 21 23 198 | 43 23 22 199 | 29 47 42 200 | 23 21 22 201 | 24 20 23 202 | 22 42 43 203 | 23 43 44 204 | 45 16 26 205 | 15 16 45 206 | 25 45 26 207 | # Triangulation 3 208 | # triangulation 209 | 82 210 | 3 211 | 4 212 | 58 67 59 213 | 60 49 48 214 | 58 59 6 215 | 34 52 35 216 | 44 45 25 217 | 39 40 29 218 | 37 18 36 219 | 27 42 22 220 | 23 44 24 221 | 41 36 1 222 | 50 62 51 223 | 56 65 66 224 | 57 58 7 225 | 64 53 63 226 | 28 27 39 227 | 52 34 51 228 | 29 42 28 229 | 19 20 24 230 | 37 19 18 231 | 36 0 1 232 | 18 17 36 233 | 37 20 19 234 | 38 20 37 235 | 21 20 38 236 | 21 38 39 237 | 24 44 25 238 | 30 34 35 239 | 21 39 27 240 | 28 42 27 241 | 39 29 28 242 | 31 30 29 243 | 30 33 34 244 | 31 29 40 245 | 36 17 0 246 | 41 31 40 247 | 31 32 30 248 | 31 41 1 249 | 49 31 48 250 | 48 2 3 251 | 67 60 59 252 | 4 48 3 253 | 5 48 4 254 | 6 59 5 255 | 59 48 5 256 | 60 48 59 257 | 7 58 6 258 | 61 49 60 259 | 58 66 67 260 | 31 2 48 261 | 31 50 32 262 | 1 2 31 263 | 61 50 49 264 | 52 62 63 265 | 50 31 49 266 | 34 33 51 267 | 51 62 52 268 | 32 50 51 269 | 50 61 62 270 | 63 53 52 271 | 57 8 9 272 | 66 58 57 273 | 8 57 7 274 | 56 57 9 275 | 66 57 56 276 | 53 35 52 277 | 65 56 55 278 | 64 55 54 279 | 65 55 64 280 | 54 53 64 281 | 47 35 46 282 | 33 32 51 283 | 30 32 33 284 | 15 45 46 285 | 22 21 27 286 | 20 21 23 287 | 43 23 22 288 | 29 47 42 289 | 23 21 22 290 | 24 20 23 291 | 22 42 43 292 | 23 43 44 293 | 25 45 26 294 | # Triangulation 4 295 | # triangulation 296 | 31 297 | 3 298 | 4 299 | 58 67 59 300 | 58 59 6 301 | 37 18 36 302 | 41 36 1 303 | 50 62 51 304 | 57 58 7 305 | 37 19 18 306 | 36 0 1 307 | 18 17 36 308 | 37 20 19 309 | 38 20 37 310 | 31 30 29 311 | 31 29 40 312 | 36 17 0 313 | 41 31 40 314 | 31 41 1 315 | 49 31 48 316 | 48 2 3 317 | 4 48 3 318 | 5 48 4 319 | 6 59 5 320 | 59 48 5 321 | 7 58 6 322 | 58 66 67 323 | 31 2 48 324 | 1 2 31 325 | 61 50 49 326 | 50 31 49 327 | 50 61 62 328 | 66 58 57 329 | 8 57 7 330 | # Triangulation 5 331 | # triangulation 332 | 97 333 | 3 334 | 4 335 | 58 67 59 336 | 60 49 48 337 | 58 59 6 338 | 34 52 35 339 | 44 45 25 340 | 39 40 29 341 | 37 18 36 342 | 27 42 22 343 | 23 44 24 344 | 41 36 1 345 | 50 62 51 346 | 56 65 66 347 | 57 58 7 348 | 64 53 63 349 | 28 27 39 350 | 52 34 51 351 | 54 14 35 352 | 29 42 28 353 | 19 20 24 354 | 35 15 46 355 | 37 19 18 356 | 36 0 1 357 | 18 17 36 358 | 37 20 19 359 | 38 20 37 360 | 21 20 38 361 | 21 38 39 362 | 24 44 25 363 | 30 34 35 364 | 21 39 27 365 | 28 42 27 366 | 39 29 28 367 | 29 30 35 368 | 31 30 29 369 | 30 33 34 370 | 31 29 40 371 | 36 17 0 372 | 41 31 40 373 | 31 32 30 374 | 31 41 1 375 | 49 31 48 376 | 48 2 3 377 | 67 60 59 378 | 4 48 3 379 | 5 48 4 380 | 6 59 5 381 | 59 48 5 382 | 60 48 59 383 | 7 58 6 384 | 61 49 60 385 | 58 66 67 386 | 31 2 48 387 | 31 50 32 388 | 1 2 31 389 | 61 50 49 390 | 52 62 63 391 | 50 31 49 392 | 34 33 51 393 | 51 62 52 394 | 32 50 51 395 | 50 61 62 396 | 63 53 52 397 | 54 55 11 398 | 57 8 9 399 | 66 58 57 400 | 8 57 7 401 | 56 57 9 402 | 66 57 56 403 | 10 56 9 404 | 55 56 10 405 | 53 54 35 406 | 53 35 52 407 | 12 54 11 408 | 55 10 11 409 | 65 56 55 410 | 64 55 54 411 | 65 55 64 412 | 54 53 64 413 | 12 13 54 414 | 14 54 13 415 | 15 35 14 416 | 47 35 46 417 | 33 32 51 418 | 30 32 33 419 | 29 35 47 420 | 15 45 46 421 | 22 21 27 422 | 20 21 23 423 | 43 23 22 424 | 29 47 42 425 | 23 21 22 426 | 24 20 23 427 | 22 42 43 428 | 23 43 44 429 | 45 16 26 430 | 15 16 45 431 | 25 45 26 432 | # Triangulation 6 433 | # triangulation 434 | 82 435 | 3 436 | 4 437 | 58 67 59 438 | 60 49 48 439 | 34 52 35 440 | 44 45 25 441 | 39 40 29 442 | 37 18 36 443 | 27 42 22 444 | 23 44 24 445 | 41 36 1 446 | 50 62 51 447 | 56 65 66 448 | 57 58 7 449 | 64 53 63 450 | 28 27 39 451 | 52 34 51 452 | 54 14 35 453 | 29 42 28 454 | 19 20 24 455 | 35 15 46 456 | 37 19 18 457 | 18 17 36 458 | 37 20 19 459 | 38 20 37 460 | 21 20 38 461 | 21 38 39 462 | 24 44 25 463 | 30 34 35 464 | 21 39 27 465 | 28 42 27 466 | 39 29 28 467 | 29 30 35 468 | 30 33 34 469 | 41 31 40 470 | 31 32 30 471 | 67 60 59 472 | 60 48 59 473 | 61 49 60 474 | 58 66 67 475 | 31 50 32 476 | 61 50 49 477 | 52 62 63 478 | 50 31 49 479 | 34 33 51 480 | 51 62 52 481 | 32 50 51 482 | 50 61 62 483 | 63 53 52 484 | 54 55 11 485 | 57 8 9 486 | 66 58 57 487 | 8 57 7 488 | 56 57 9 489 | 66 57 56 490 | 10 56 9 491 | 55 56 10 492 | 53 54 35 493 | 53 35 52 494 | 12 54 11 495 | 55 10 11 496 | 65 56 55 497 | 64 55 54 498 | 65 55 64 499 | 54 53 64 500 | 12 13 54 501 | 14 54 13 502 | 15 35 14 503 | 47 35 46 504 | 33 32 51 505 | 30 32 33 506 | 29 35 47 507 | 15 45 46 508 | 22 21 27 509 | 20 21 23 510 | 43 23 22 511 | 29 47 42 512 | 23 21 22 513 | 24 20 23 514 | 22 42 43 515 | 23 43 44 516 | 45 16 26 517 | 15 16 45 518 | 25 45 26 519 | # Triangulation 7 520 | # triangulation 521 | 31 522 | 3 523 | 4 524 | 44 45 25 525 | 23 44 24 526 | 56 65 66 527 | 54 14 35 528 | 35 15 46 529 | 24 44 25 530 | 29 30 35 531 | 52 62 63 532 | 51 62 52 533 | 63 53 52 534 | 54 55 11 535 | 57 8 9 536 | 56 57 9 537 | 66 57 56 538 | 10 56 9 539 | 55 56 10 540 | 53 54 35 541 | 53 35 52 542 | 12 54 11 543 | 55 10 11 544 | 65 56 55 545 | 12 13 54 546 | 14 54 13 547 | 15 35 14 548 | 47 35 46 549 | 29 35 47 550 | 15 45 46 551 | 23 43 44 552 | 45 16 26 553 | 15 16 45 554 | 25 45 26 555 | -------------------------------------------------------------------------------- /model/model_eye/pdms/pdm_28_l_eye_3D_closed.txt: -------------------------------------------------------------------------------- 1 | # The mean values of the components (in mm) 2 | 84 3 | 1 4 | 6 5 | -5.513861 6 | -3.584030 7 | 0.689206 8 | 4.802645 9 | 6.346689 10 | 4.705906 11 | 0.143620 12 | -3.969817 13 | -11.209605 14 | -8.614140 15 | -4.895108 16 | -0.286655 17 | 4.315176 18 | 7.784450 19 | 10.151100 20 | 7.250731 21 | 3.271212 22 | -1.065652 23 | -5.165718 24 | -8.705321 25 | -1.476467 26 | 0.324358 27 | 2.195097 28 | 3.039631 29 | 2.363439 30 | 0.562884 31 | -1.307482 32 | -2.152288 33 | -1.074175 34 | -5.261457 35 | -6.865877 36 | -4.947588 37 | -0.630295 38 | 3.911768 39 | 5.161403 40 | 3.243115 41 | 0.957222 42 | -1.049970 43 | -2.316547 44 | -2.862675 45 | -1.959374 46 | -0.095726 47 | 2.351440 48 | 3.510297 49 | 3.755154 50 | 3.797180 51 | 3.410716 52 | 2.555497 53 | 1.093865 54 | 1.933679 55 | 1.231211 56 | -0.601842 57 | -2.491440 58 | -3.330879 59 | -2.628691 60 | -0.796012 61 | -0.054457 62 | 0.532111 63 | 0.641715 64 | 0.210152 65 | -0.509775 66 | -0.879208 67 | -1.205947 68 | -0.774384 69 | 4.283196 70 | 1.616596 71 | -0.796095 72 | -2.100358 73 | -1.721653 74 | -0.440952 75 | 1.060595 76 | -0.559696 77 | -2.010491 78 | -2.176368 79 | -0.872711 80 | 1.517115 81 | 0.313958 82 | 0.125369 83 | 0.173887 84 | 0.431068 85 | 0.746213 86 | 0.934736 87 | 0.886248 88 | 0.629133 89 | # The principal components (eigenvectors) of identity or combined identity and expression model 90 | 84 91 | 10 92 | 6 93 | 0.167881 0.037515 -0.058646 0.033467 0.007013 0.083344 0.140162 0.014855 0.064846 -0.170941 94 | 0.144747 0.025369 -0.029522 0.011262 -0.071090 0.203042 0.058466 0.020071 0.048015 -0.098735 95 | 0.130919 0.001976 0.015781 -0.021780 -0.107202 0.203982 -0.058147 0.013939 0.001668 0.032456 96 | 0.134498 -0.018961 0.050725 -0.046303 -0.080169 0.085614 -0.141365 0.000051 -0.047046 0.145781 97 | 0.153386 -0.025177 0.054841 -0.047942 -0.005828 -0.082724 -0.142441 -0.013459 -0.069592 0.174858 98 | 0.171298 -0.014498 0.028042 -0.026941 0.077441 -0.217018 -0.062715 -0.021341 -0.053763 0.101612 99 | 0.190348 0.010362 -0.019585 0.007306 0.108386 -0.203362 0.055867 -0.012543 -0.006414 -0.028538 100 | 0.186769 0.031299 -0.054529 0.031829 0.081354 -0.084994 0.139085 0.001345 0.042300 -0.141864 101 | -0.152472 0.045932 -0.082773 -0.055658 -0.007529 -0.054010 -0.199419 -0.134126 -0.101864 0.104416 102 | -0.184330 -0.002781 -0.040384 -0.080832 -0.080460 -0.115659 -0.055044 -0.080257 0.058662 0.101912 103 | -0.213285 -0.008939 -0.034917 -0.022841 -0.034538 -0.123140 0.030932 -0.037313 0.101512 0.081439 104 | -0.232555 0.003035 -0.055702 0.033152 0.076396 0.011744 0.117545 -0.262249 0.015413 -0.155968 105 | -0.234134 0.004997 -0.053270 0.057837 0.186495 0.082705 0.126911 -0.442421 -0.063530 -0.192235 106 | -0.225329 -0.015439 0.023166 0.064446 0.087217 0.069482 0.099691 -0.249926 -0.080107 -0.028214 107 | -0.207372 -0.062591 0.119437 0.054907 -0.076820 0.048100 0.135908 0.057742 0.004103 0.009908 108 | -0.207309 -0.052291 0.099881 0.114814 -0.132728 0.038736 0.063320 0.127790 -0.094419 0.019914 109 | -0.207618 -0.029961 0.076210 0.091900 -0.049907 0.030279 -0.028983 0.273244 -0.042669 -0.005952 110 | -0.200832 -0.002349 0.027929 0.031359 -0.014172 0.005684 -0.042899 0.435980 0.098097 0.013502 111 | -0.184402 0.009464 -0.017039 -0.048177 0.004151 0.026121 -0.058695 0.257197 0.110822 0.032434 112 | -0.165398 0.018683 -0.044018 -0.098351 0.012939 0.024937 -0.134807 0.069897 0.073109 -0.022702 113 | 0.153118 0.016465 -0.024583 0.006636 0.037945 -0.028369 0.160085 0.033318 -0.184813 0.078178 114 | 0.154866 0.007385 -0.008461 -0.004109 0.049639 -0.092397 0.026746 -0.005949 -0.022710 -0.000382 115 | 0.149017 -0.002774 0.012207 -0.018561 0.033647 -0.104700 -0.125446 -0.043084 0.148359 -0.076732 116 | 0.138999 -0.008057 0.025308 -0.028236 -0.000666 -0.058065 -0.207285 -0.056337 0.228233 -0.106257 117 | 0.130680 -0.005372 0.023172 -0.027479 -0.033190 0.020171 -0.170867 -0.037942 0.170086 -0.071581 118 | 0.128933 0.003706 0.007052 -0.016750 -0.044871 0.084172 -0.037576 0.001329 0.007933 0.007089 119 | 0.134779 0.013860 -0.013609 -0.002322 -0.028876 0.096467 0.114542 0.038469 -0.163204 0.083593 120 | 0.144797 0.019145 -0.026714 0.007369 0.005424 0.049859 0.196430 0.051719 -0.243027 0.113007 121 | 0.016389 -0.154283 -0.012634 0.011202 0.127838 -0.233231 0.083422 -0.020541 0.004212 -0.018229 122 | 0.021618 -0.125432 -0.048000 0.070337 0.075609 -0.129863 0.130471 -0.029065 0.084827 -0.065960 123 | 0.017817 -0.117497 -0.053283 0.089178 -0.015735 0.045359 0.106064 -0.023203 0.119076 -0.070549 124 | 0.007213 -0.135126 -0.025388 0.056689 -0.092686 0.189792 0.024499 -0.006388 0.086896 -0.029308 125 | -0.003984 -0.167992 0.019345 -0.008099 -0.110167 0.218829 -0.066444 0.011530 0.007137 0.033605 126 | -0.010850 -0.196699 0.059026 -0.068250 -0.066030 0.122601 -0.115358 0.019806 -0.069346 0.083334 127 | -0.005412 -0.204777 0.059994 -0.086075 0.033407 -0.059761 -0.089086 0.014191 -0.107727 0.085926 128 | 0.005192 -0.187148 0.032099 -0.053586 0.110358 -0.204194 -0.007521 -0.002624 -0.075546 0.044685 129 | 0.051597 0.123490 -0.100835 0.113633 0.277072 0.404462 -0.158693 -0.089593 -0.059518 -0.031557 130 | 0.046520 0.191125 0.186443 0.028729 0.050283 0.218925 -0.101211 0.048101 -0.011525 -0.043765 131 | 0.031496 0.229386 0.360031 -0.050497 -0.104395 0.079803 -0.054671 -0.073899 -0.062985 -0.023917 132 | 0.008466 0.249892 0.434476 -0.046985 -0.170644 -0.092034 0.008838 -0.087026 -0.030030 0.019115 133 | -0.020457 0.260307 0.347209 0.044215 -0.051959 -0.147993 0.103852 -0.081857 -0.000604 -0.087831 134 | -0.049636 0.264882 0.162264 0.120013 0.170250 -0.115936 0.057634 0.079663 0.011493 -0.053341 135 | -0.074908 0.222322 -0.128680 0.106279 0.515992 -0.037382 -0.166184 0.282250 -0.092724 -0.029211 136 | -0.061014 0.208181 -0.221481 -0.003480 0.048193 -0.126544 0.030670 0.093612 -0.016308 -0.019164 137 | -0.039475 0.208053 -0.288236 -0.127299 -0.178571 -0.148602 0.040236 0.004113 -0.004457 -0.016551 138 | -0.015936 0.203274 -0.317303 -0.176584 -0.301025 -0.090120 0.038670 -0.012354 -0.000247 -0.036027 139 | 0.007963 0.191505 -0.289781 -0.098710 -0.251918 0.026406 0.025857 -0.011773 0.026086 0.020397 140 | 0.031390 0.166293 -0.221317 0.010778 -0.065560 0.197405 -0.013358 -0.038202 0.028971 0.015787 141 | 0.004235 -0.165003 0.019162 -0.015569 0.044130 -0.113124 -0.088548 -0.042014 0.167473 -0.083327 142 | -0.000300 -0.172691 0.031731 -0.029747 0.010395 -0.055596 -0.169946 -0.050038 0.239789 -0.125691 143 | -0.002022 -0.169263 0.029080 -0.021466 -0.029459 0.025877 -0.142794 -0.034375 0.183570 -0.078222 144 | 0.000078 -0.156729 0.012766 0.004408 -0.052075 0.083550 -0.023030 -0.004196 0.031710 0.031351 145 | 0.004768 -0.142435 -0.007651 0.032701 -0.044203 0.083633 0.119139 0.022826 -0.126885 0.138947 146 | 0.009301 -0.134752 -0.020213 0.046851 -0.010464 0.026098 0.200464 0.030859 -0.199272 0.181460 147 | 0.011023 -0.138177 -0.017566 0.038590 0.029375 -0.055348 0.173359 0.015191 -0.142999 0.133883 148 | 0.008925 -0.150706 -0.001258 0.012743 0.051988 -0.113014 0.053667 -0.014997 0.008933 0.024161 149 | -0.146414 -0.002516 0.028155 -0.163578 0.022690 0.023539 0.002211 -0.006223 -0.035002 0.012582 150 | -0.109902 0.040269 0.033462 -0.110156 -0.017675 -0.030878 0.039946 -0.034778 0.056210 0.143990 151 | -0.014166 0.059774 0.028433 -0.073564 -0.028456 -0.056347 0.078713 -0.035782 0.114925 0.182190 152 | 0.084713 0.044573 0.016014 -0.075237 -0.003338 -0.037950 0.095804 -0.008646 0.106748 0.104806 153 | 0.128814 0.003571 0.003480 -0.114195 0.042965 0.013538 0.081206 0.030733 0.036469 -0.042832 154 | 0.099074 -0.043950 -0.000509 -0.171174 0.086675 0.069487 0.039093 0.061946 -0.059545 -0.184463 155 | -0.003434 -0.058719 0.003203 -0.204209 0.094112 0.093425 0.004704 0.060292 -0.113458 -0.212440 156 | -0.102313 -0.043518 0.015622 -0.202536 0.068994 0.075027 -0.012387 0.033157 -0.105281 -0.135056 157 | 0.068631 -0.013724 0.027292 0.231437 -0.037554 0.034751 0.337456 0.134888 0.312055 -0.132196 158 | 0.055992 -0.018520 -0.024499 0.236434 -0.057326 -0.072106 -0.011848 0.151259 -0.049264 -0.117501 159 | 0.039393 -0.033167 -0.026588 0.194395 -0.163302 -0.053331 -0.095733 0.027393 -0.169484 -0.254320 160 | 0.013759 -0.046657 -0.031453 0.191733 -0.202303 -0.154083 -0.244663 -0.006407 -0.264460 -0.184882 161 | -0.015599 -0.034327 -0.050684 0.208434 -0.145282 -0.134450 -0.225097 -0.057805 -0.253738 -0.159062 162 | -0.038477 -0.010328 -0.025919 0.225952 -0.098722 -0.012521 -0.024397 -0.078886 -0.051188 -0.094188 163 | -0.054913 -0.004523 0.015086 0.231138 -0.115127 0.082549 0.124313 -0.000052 0.180789 0.076509 164 | -0.036452 0.030786 -0.028097 0.176770 -0.015768 0.029793 -0.046117 0.020525 0.047330 0.165226 165 | -0.009409 0.051946 -0.050194 0.162935 0.085636 -0.028224 -0.126599 0.046702 0.099383 0.240695 166 | 0.019928 0.055883 -0.059556 0.147688 0.109694 0.020391 -0.066574 -0.102694 0.128555 0.213173 167 | 0.042182 0.043848 -0.041760 0.116811 0.078314 0.051616 -0.106453 -0.228687 0.036561 0.260986 168 | 0.056256 0.022936 -0.019524 0.146331 0.032207 -0.007908 -0.035410 -0.090636 -0.012725 0.205397 169 | -0.050587 -0.024716 0.023247 -0.172154 0.048419 0.037544 0.009258 0.022863 -0.065299 -0.050654 170 | -0.007396 -0.031398 0.017754 -0.172866 0.059650 0.047306 0.028721 0.038858 -0.090778 -0.069213 171 | 0.034441 -0.022881 0.015629 -0.156918 0.055237 0.036211 0.045403 0.038219 -0.063438 -0.053697 172 | 0.050412 -0.004156 0.018118 -0.133655 0.037766 0.010766 0.049531 0.021320 0.000702 -0.013208 173 | 0.031165 0.013807 0.023762 -0.116702 0.017473 -0.014122 0.038694 -0.001937 0.064074 0.028511 174 | -0.012020 0.020487 0.029254 -0.115987 0.006243 -0.023880 0.019242 -0.017932 0.089559 0.047033 175 | -0.053849 0.011973 0.031379 -0.131930 0.010655 -0.012793 0.002562 -0.017294 0.062223 0.031533 176 | -0.069827 -0.006750 0.028891 -0.155196 0.028124 0.012648 -0.001577 -0.000397 -0.001922 -0.008919 177 | # The variances of the components (eigenvalues) of identity or combined identity and expression model 178 | 1 179 | 10 180 | 6 181 | 111.570907 32.910130 22.463857 3.183176 1.531432 1.381999 0.770569 0.635129 0.500532 0.422800 182 | -------------------------------------------------------------------------------- /model/model_eye/pdms/pdm_28_eye_3D_closed.txt: -------------------------------------------------------------------------------- 1 | # The mean values of the components (in mm) 2 | 84 3 | 1 4 | 6 5 | -6.346689 6 | -4.802645 7 | -0.689206 8 | 3.584030 9 | 5.513861 10 | 3.969817 11 | -0.143620 12 | -4.705906 13 | -10.151100 14 | -7.784450 15 | -4.315176 16 | 0.286655 17 | 4.895108 18 | 8.614140 19 | 11.209605 20 | 8.705321 21 | 5.165718 22 | 1.065652 23 | -3.271212 24 | -7.250731 25 | -2.195097 26 | -0.324358 27 | 1.476467 28 | 2.152288 29 | 1.307482 30 | -0.562884 31 | -2.363439 32 | -3.039631 33 | -0.630295 34 | -4.947588 35 | -6.865877 36 | -5.261457 37 | -1.074175 38 | 3.243115 39 | 5.161403 40 | 3.911768 41 | 2.351440 42 | -0.095726 43 | -1.959374 44 | -2.862675 45 | -2.316547 46 | -1.049970 47 | 0.957222 48 | 2.555497 49 | 3.410716 50 | 3.797180 51 | 3.755154 52 | 3.510297 53 | 1.231211 54 | 1.933679 55 | 1.093865 56 | -0.796012 57 | -2.628691 58 | -3.330879 59 | -2.491440 60 | -0.601842 61 | -0.509775 62 | 0.210152 63 | 0.641715 64 | 0.532111 65 | -0.054457 66 | -0.774384 67 | -1.205947 68 | -0.879208 69 | 1.060595 70 | -0.440952 71 | -1.721653 72 | -2.100358 73 | -0.796095 74 | 1.616596 75 | 4.283196 76 | 1.517115 77 | -0.872711 78 | -2.176368 79 | -2.010491 80 | -0.559696 81 | 0.173887 82 | 0.125369 83 | 0.313958 84 | 0.629133 85 | 0.886248 86 | 0.934736 87 | 0.746213 88 | 0.431068 89 | # The principal components (eigenvectors) of identity or combined identity and expression model 90 | 84 91 | 10 92 | 6 93 | -0.153386 0.025177 -0.054841 0.047942 0.005828 0.082724 0.142441 0.013459 0.069592 -0.174858 94 | -0.134498 0.018961 -0.050725 0.046303 0.080169 -0.085614 0.141365 -0.000051 0.047046 -0.145781 95 | -0.130919 -0.001976 -0.015781 0.021780 0.107202 -0.203982 0.058147 -0.013939 -0.001668 -0.032456 96 | -0.144747 -0.025369 0.029522 -0.011262 0.071090 -0.203042 -0.058466 -0.020071 -0.048015 0.098735 97 | -0.167881 -0.037515 0.058646 -0.033467 -0.007013 -0.083344 -0.140162 -0.014855 -0.064846 0.170941 98 | -0.186769 -0.031299 0.054529 -0.031829 -0.081354 0.084994 -0.139085 -0.001345 -0.042300 0.141864 99 | -0.190348 -0.010362 0.019585 -0.007306 -0.108386 0.203362 -0.055867 0.012543 0.006414 0.028538 100 | -0.171298 0.014498 -0.028042 0.026941 -0.077441 0.217018 0.062715 0.021341 0.053763 -0.101612 101 | 0.207372 0.062591 -0.119437 -0.054907 0.076820 -0.048100 -0.135908 -0.057742 -0.004103 -0.009908 102 | 0.225329 0.015439 -0.023166 -0.064446 -0.087217 -0.069482 -0.099691 0.249926 0.080107 0.028214 103 | 0.234134 -0.004997 0.053270 -0.057837 -0.186495 -0.082705 -0.126911 0.442421 0.063530 0.192235 104 | 0.232555 -0.003035 0.055702 -0.033152 -0.076396 -0.011744 -0.117545 0.262249 -0.015413 0.155968 105 | 0.213285 0.008939 0.034917 0.022841 0.034538 0.123140 -0.030932 0.037313 -0.101512 -0.081439 106 | 0.184330 0.002781 0.040384 0.080832 0.080460 0.115659 0.055044 0.080257 -0.058662 -0.101912 107 | 0.152472 -0.045932 0.082773 0.055658 0.007529 0.054010 0.199419 0.134126 0.101864 -0.104416 108 | 0.165398 -0.018683 0.044018 0.098351 -0.012939 -0.024937 0.134807 -0.069897 -0.073109 0.022702 109 | 0.184402 -0.009464 0.017039 0.048177 -0.004151 -0.026121 0.058695 -0.257197 -0.110822 -0.032434 110 | 0.200832 0.002349 -0.027929 -0.031359 0.014172 -0.005684 0.042899 -0.435980 -0.098097 -0.013502 111 | 0.207618 0.029961 -0.076210 -0.091900 0.049907 -0.030279 0.028983 -0.273244 0.042669 0.005952 112 | 0.207309 0.052291 -0.099881 -0.114814 0.132728 -0.038736 -0.063320 -0.127790 0.094419 -0.019914 113 | -0.149017 0.002774 -0.012207 0.018561 -0.033647 0.104700 0.125446 0.043084 -0.148359 0.076732 114 | -0.154866 -0.007385 0.008461 0.004109 -0.049639 0.092397 -0.026746 0.005949 0.022710 0.000382 115 | -0.153118 -0.016465 0.024583 -0.006636 -0.037945 0.028369 -0.160085 -0.033318 0.184813 -0.078178 116 | -0.144797 -0.019145 0.026714 -0.007369 -0.005424 -0.049859 -0.196430 -0.051719 0.243027 -0.113007 117 | -0.134779 -0.013860 0.013609 0.002322 0.028876 -0.096467 -0.114542 -0.038469 0.163204 -0.083593 118 | -0.128933 -0.003706 -0.007052 0.016750 0.044871 -0.084172 0.037576 -0.001329 -0.007933 -0.007089 119 | -0.130680 0.005372 -0.023172 0.027479 0.033190 -0.020171 0.170867 0.037942 -0.170086 0.071581 120 | -0.138999 0.008057 -0.025308 0.028236 0.000666 0.058065 0.207285 0.056337 -0.228233 0.106257 121 | -0.003984 -0.167992 0.019345 -0.008099 -0.110167 0.218829 -0.066444 0.011530 0.007137 0.033605 122 | 0.007213 -0.135126 -0.025388 0.056689 -0.092686 0.189792 0.024499 -0.006388 0.086896 -0.029308 123 | 0.017817 -0.117497 -0.053283 0.089178 -0.015735 0.045359 0.106064 -0.023203 0.119076 -0.070549 124 | 0.021618 -0.125432 -0.048000 0.070337 0.075609 -0.129863 0.130471 -0.029065 0.084827 -0.065960 125 | 0.016389 -0.154283 -0.012634 0.011202 0.127838 -0.233231 0.083422 -0.020541 0.004212 -0.018229 126 | 0.005192 -0.187148 0.032099 -0.053586 0.110358 -0.204194 -0.007521 -0.002624 -0.075546 0.044685 127 | -0.005412 -0.204777 0.059994 -0.086075 0.033407 -0.059761 -0.089086 0.014191 -0.107727 0.085926 128 | -0.010850 -0.196699 0.059026 -0.068250 -0.066030 0.122601 -0.115358 0.019806 -0.069346 0.083334 129 | -0.074908 0.222322 -0.128680 0.106279 0.515992 -0.037382 -0.166184 0.282250 -0.092724 -0.029211 130 | -0.049636 0.264882 0.162264 0.120013 0.170250 -0.115936 0.057634 0.079663 0.011493 -0.053341 131 | -0.020457 0.260307 0.347209 0.044215 -0.051959 -0.147993 0.103852 -0.081857 -0.000604 -0.087831 132 | 0.008466 0.249892 0.434476 -0.046985 -0.170644 -0.092034 0.008838 -0.087026 -0.030030 0.019115 133 | 0.031496 0.229386 0.360031 -0.050497 -0.104395 0.079803 -0.054671 -0.073899 -0.062985 -0.023917 134 | 0.046520 0.191125 0.186443 0.028729 0.050283 0.218925 -0.101211 0.048101 -0.011525 -0.043765 135 | 0.051597 0.123490 -0.100835 0.113633 0.277072 0.404462 -0.158693 -0.089593 -0.059518 -0.031557 136 | 0.031390 0.166293 -0.221317 0.010778 -0.065560 0.197405 -0.013358 -0.038202 0.028971 0.015787 137 | 0.007963 0.191505 -0.289781 -0.098710 -0.251918 0.026406 0.025857 -0.011773 0.026086 0.020397 138 | -0.015936 0.203274 -0.317303 -0.176584 -0.301025 -0.090120 0.038670 -0.012354 -0.000247 -0.036027 139 | -0.039475 0.208053 -0.288236 -0.127299 -0.178571 -0.148602 0.040236 0.004113 -0.004457 -0.016551 140 | -0.061014 0.208181 -0.221481 -0.003480 0.048193 -0.126544 0.030670 0.093612 -0.016308 -0.019164 141 | -0.002022 -0.169263 0.029080 -0.021466 -0.029459 0.025877 -0.142794 -0.034375 0.183570 -0.078222 142 | -0.000300 -0.172691 0.031731 -0.029747 0.010395 -0.055596 -0.169946 -0.050038 0.239789 -0.125691 143 | 0.004235 -0.165003 0.019162 -0.015569 0.044130 -0.113124 -0.088548 -0.042014 0.167473 -0.083327 144 | 0.008925 -0.150706 -0.001258 0.012743 0.051988 -0.113014 0.053667 -0.014997 0.008933 0.024161 145 | 0.011023 -0.138177 -0.017566 0.038590 0.029375 -0.055348 0.173359 0.015191 -0.142999 0.133883 146 | 0.009301 -0.134752 -0.020213 0.046851 -0.010464 0.026098 0.200464 0.030859 -0.199272 0.181460 147 | 0.004768 -0.142435 -0.007651 0.032701 -0.044203 0.083633 0.119139 0.022826 -0.126885 0.138947 148 | 0.000078 -0.156729 0.012766 0.004408 -0.052075 0.083550 -0.023030 -0.004196 0.031710 0.031351 149 | 0.128814 0.003571 0.003480 -0.114195 0.042965 0.013538 0.081206 0.030733 0.036469 -0.042832 150 | 0.084713 0.044573 0.016014 -0.075237 -0.003338 -0.037950 0.095804 -0.008646 0.106748 0.104806 151 | -0.014166 0.059774 0.028433 -0.073564 -0.028456 -0.056347 0.078713 -0.035782 0.114925 0.182190 152 | -0.109902 0.040269 0.033462 -0.110156 -0.017675 -0.030878 0.039946 -0.034778 0.056210 0.143990 153 | -0.146414 -0.002516 0.028155 -0.163578 0.022690 0.023539 0.002211 -0.006223 -0.035002 0.012582 154 | -0.102313 -0.043518 0.015622 -0.202536 0.068994 0.075027 -0.012387 0.033157 -0.105281 -0.135056 155 | -0.003434 -0.058719 0.003203 -0.204209 0.094112 0.093425 0.004704 0.060292 -0.113458 -0.212440 156 | 0.099074 -0.043950 -0.000509 -0.171174 0.086675 0.069487 0.039093 0.061946 -0.059545 -0.184463 157 | -0.054913 -0.004523 0.015086 0.231138 -0.115127 0.082549 0.124313 -0.000052 0.180789 0.076509 158 | -0.038477 -0.010328 -0.025919 0.225952 -0.098722 -0.012521 -0.024397 -0.078886 -0.051188 -0.094188 159 | -0.015599 -0.034327 -0.050684 0.208434 -0.145282 -0.134450 -0.225097 -0.057805 -0.253738 -0.159062 160 | 0.013759 -0.046657 -0.031453 0.191733 -0.202303 -0.154083 -0.244663 -0.006407 -0.264460 -0.184882 161 | 0.039393 -0.033167 -0.026588 0.194395 -0.163302 -0.053331 -0.095733 0.027393 -0.169484 -0.254320 162 | 0.055992 -0.018520 -0.024499 0.236434 -0.057326 -0.072106 -0.011848 0.151259 -0.049264 -0.117501 163 | 0.068631 -0.013724 0.027292 0.231437 -0.037554 0.034751 0.337456 0.134888 0.312055 -0.132196 164 | 0.056256 0.022936 -0.019524 0.146331 0.032207 -0.007908 -0.035410 -0.090636 -0.012725 0.205397 165 | 0.042182 0.043848 -0.041760 0.116811 0.078314 0.051616 -0.106453 -0.228687 0.036561 0.260986 166 | 0.019928 0.055883 -0.059556 0.147688 0.109694 0.020391 -0.066574 -0.102694 0.128555 0.213173 167 | -0.009409 0.051946 -0.050194 0.162935 0.085636 -0.028224 -0.126599 0.046702 0.099383 0.240695 168 | -0.036452 0.030786 -0.028097 0.176770 -0.015768 0.029793 -0.046117 0.020525 0.047330 0.165226 169 | 0.034441 -0.022881 0.015629 -0.156918 0.055237 0.036211 0.045403 0.038219 -0.063438 -0.053697 170 | -0.007396 -0.031398 0.017754 -0.172866 0.059650 0.047306 0.028721 0.038858 -0.090778 -0.069213 171 | -0.050587 -0.024716 0.023247 -0.172154 0.048419 0.037544 0.009258 0.022863 -0.065299 -0.050654 172 | -0.069827 -0.006750 0.028891 -0.155196 0.028124 0.012648 -0.001577 -0.000397 -0.001922 -0.008919 173 | -0.053849 0.011973 0.031379 -0.131930 0.010655 -0.012793 0.002562 -0.017294 0.062223 0.031533 174 | -0.012020 0.020487 0.029254 -0.115987 0.006243 -0.023880 0.019242 -0.017932 0.089559 0.047033 175 | 0.031165 0.013807 0.023762 -0.116702 0.017473 -0.014122 0.038694 -0.001937 0.064074 0.028511 176 | 0.050412 -0.004156 0.018118 -0.133655 0.037766 0.010766 0.049531 0.021320 0.000702 -0.013208 177 | # The variances of the components (eigenvalues) of identity or combined identity and expression model 178 | 1 179 | 10 180 | 6 181 | 111.570907 32.910130 22.463857 3.183176 1.531432 1.381999 0.770569 0.635129 0.500532 0.422800 182 | -------------------------------------------------------------------------------- /src/openface_ros.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | 21 | #include 22 | 23 | #include 24 | #include 25 | #include 26 | #include 27 | 28 | #include "openface_ros/ActionUnit.h" 29 | #include "openface_ros/Face.h" 30 | #include "openface_ros/Faces.h" 31 | 32 | #include 33 | 34 | #include 35 | #include 36 | #include 37 | 38 | #include 39 | #include 40 | #include 41 | #include 42 | 43 | #include 44 | #include 45 | #include 46 | 47 | #include 48 | 49 | using namespace std; 50 | using namespace ros; 51 | using namespace cv; 52 | 53 | namespace 54 | { 55 | static geometry_msgs::Quaternion toQuaternion(double pitch, double roll, double yaw) 56 | { 57 | double t0 = std::cos(yaw * 0.5f); 58 | double t1 = std::sin(yaw * 0.5f); 59 | double t2 = std::cos(roll * 0.5f); 60 | double t3 = std::sin(roll * 0.5f); 61 | double t4 = std::cos(pitch * 0.5f); 62 | double t5 = std::sin(pitch * 0.5f); 63 | 64 | geometry_msgs::Quaternion q; 65 | q.w = t0 * t2 * t4 + t1 * t3 * t5; 66 | q.x = t0 * t3 * t4 - t1 * t2 * t5; 67 | q.y = t0 * t2 * t5 + t1 * t3 * t4; 68 | q.z = t1 * t2 * t4 - t0 * t3 * t5; 69 | return q; 70 | } 71 | 72 | static geometry_msgs::Quaternion operator *(const geometry_msgs::Quaternion &a, const geometry_msgs::Quaternion &b) 73 | { 74 | geometry_msgs::Quaternion q; 75 | 76 | q.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z; // 1 77 | q.x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y; // i 78 | q.y = a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x; // j 79 | q.z = a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w; // k 80 | return q; 81 | } 82 | 83 | void non_overlaping_detections(const vector &clnf_models, vector> &face_detections) 84 | { 85 | if(face_detections.empty()) return; 86 | 87 | for(size_t model = 0; model < clnf_models.size(); ++model) 88 | { 89 | // See if the detections intersect 90 | cv::Rect_ model_rect = clnf_models[model]->GetBoundingBox(); 91 | 92 | for(int detection = face_detections.size() - 1; detection >= 0; --detection) 93 | { 94 | double intersection_area = (model_rect & face_detections[detection]).area(); 95 | double union_area = model_rect.area() + face_detections[detection].area() - 2 * intersection_area; 96 | 97 | // If the model is already tracking what we're detecting ignore the detection, this is determined by amount of overlap 98 | if(intersection_area / union_area <= 0.5) continue; 99 | face_detections.erase(face_detections.begin() + detection); 100 | } 101 | } 102 | } 103 | 104 | vector redundant_detections(const vector &clnf_models) 105 | { 106 | vector ret(clnf_models.size(), -1); 107 | for(size_t modeli = 0; modeli < clnf_models.size(); ++modeli) 108 | { 109 | if(ret[modeli] >= 0) continue; 110 | // See if the detections intersect 111 | const Rect_ modeli_rect = clnf_models[modeli]->GetBoundingBox(); 112 | 113 | for(size_t modelj = 0; modelj < clnf_models.size(); ++modelj) 114 | { 115 | if(modeli == modelj || ret[modelj] >= 0) continue; 116 | 117 | const Rect_ modelj_rect = clnf_models[modelj]->GetBoundingBox(); 118 | 119 | double intersection_area = (modeli_rect & modelj_rect).area(); 120 | double union_area = modeli_rect.area() + modelj_rect.area() - 2 * intersection_area; 121 | 122 | // If the model is already tracking what we're detecting ignore the detection, this is determined by amount of overlap 123 | if(intersection_area / union_area <= 0.5) continue; 124 | 125 | ret[modelj] = modeli; 126 | } 127 | } 128 | 129 | return ret; 130 | } 131 | 132 | 133 | } 134 | 135 | namespace openface_ros 136 | { 137 | 138 | 139 | class OpenFaceRos 140 | { 141 | public: 142 | OpenFaceRos(NodeHandle &nh) 143 | : nh_(nh) 144 | , it_(nh_) 145 | { 146 | NodeHandle pnh("~"); 147 | if(!pnh.getParam("image_topic", image_topic_)) throw invalid_argument("Expected ~image_topic parameter"); 148 | 149 | const auto base_path = package::getPath("openface_ros"); 150 | 151 | 152 | pnh.param("clnf_model_path", clnf_model_path_, base_path + "/" + model_params_.model_location); 153 | pnh.param("tri_model_path", tri_model_path_, base_path + "/model/tris_68_full.txt"); 154 | pnh.param("au_model_path", au_model_path_, base_path + "/model/AU_predictors/AU_all_best.txt"); 155 | pnh.param("haar_model_path", haar_model_path_, base_path + "/model/classifiers/haarcascade_frontalface_alt.xml"); 156 | pnh.param("publish_viz", publish_viz_, false); 157 | 158 | int max_faces = 0; 159 | pnh.param("max_faces", max_faces, 3); 160 | if(max_faces <= 0) throw invalid_argument("~max_faces must be > 0"); 161 | 162 | max_faces_ = max_faces; 163 | 164 | camera_sub_ = it_.subscribeCamera(image_topic_, 1, &OpenFaceRos::process_incoming_, this); 165 | faces_pub_ = nh_.advertise("faces", 1000); 166 | if(publish_viz_) viz_pub_ = it_.advertise("openface/viz", 1); 167 | init_openface_(); 168 | } 169 | 170 | ~OpenFaceRos() 171 | { 172 | } 173 | 174 | private: 175 | void init_openface_() 176 | { 177 | model_params_.track_gaze = true; 178 | 179 | LandmarkDetector::CLNF clnf(clnf_model_path_); 180 | clnf.face_detector_HAAR.load(haar_model_path_); 181 | clnf.face_detector_location = haar_model_path_; 182 | 183 | FaceAnalysis::FaceAnalyser face_analyser(vector(), 0.7, 112, 112, au_model_path_, tri_model_path_); 184 | 185 | actives_ = vector(max_faces_, false); 186 | clnfs_ = vector(max_faces_, clnf); 187 | face_analysers_ = vector(max_faces_, face_analyser); 188 | 189 | ROS_INFO("OpenFace initialized!"); 190 | } 191 | 192 | void process_incoming_(const sensor_msgs::ImageConstPtr &img, const sensor_msgs::CameraInfoConstPtr &cam) 193 | { 194 | cv_bridge::CvImagePtr cv_ptr; 195 | try 196 | { 197 | cv_ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8); 198 | } 199 | catch(const cv_bridge::Exception &e) 200 | { 201 | ROS_ERROR("cv_bridge exception: %s", e.what()); 202 | return; 203 | } 204 | 205 | double fx = cam->K[0]; 206 | double fy = cam->K[4]; 207 | double cx = cam->K[2]; 208 | double cy = cam->K[5]; 209 | 210 | 211 | if(fx == 0 || fy == 0) 212 | { 213 | fx = 500.0 * cv_ptr->image.cols / 640.0; 214 | fy = 500.0 * cv_ptr->image.rows / 480.0; 215 | fx = (fx + fy) / 2.0; 216 | fy = fx; 217 | } 218 | 219 | if(cx == 0) cx = cv_ptr->image.cols / 2.0; 220 | if(cy == 0) cy = cv_ptr->image.rows / 2.0; 221 | 222 | vector> face_detections; 223 | 224 | if(cam->header.seq % 30 == 0) 225 | { 226 | LandmarkDetector::DetectFaces(face_detections, cv_ptr->image, clnfs_[0].face_detector_HAAR); 227 | vector active_clnfs; 228 | for(unsigned i = 0; i < max_faces_; ++i) 229 | { 230 | if(!actives_[i]) continue; 231 | active_clnfs.push_back(&clnfs_[i]); 232 | } 233 | 234 | non_overlaping_detections(active_clnfs, face_detections); 235 | ROS_INFO("new face detections %lu", face_detections.size()); 236 | 237 | } 238 | 239 | vector> face_detections_used(face_detections.size(), false); 240 | tbb::parallel_for(0, (int)clnfs_.size(), [&](int i){ 241 | if(clnfs_[i].failures_in_a_row > 4) 242 | { 243 | actives_[i] = false; 244 | clnfs_[i].Reset(); 245 | } 246 | if(!actives_[i]) 247 | { 248 | for(size_t j = 0; j < face_detections.size(); ++j) 249 | { 250 | // if it was not taken by another tracker take it (if it is false swap it to true and enter detection, this makes it parallel safe) 251 | if(face_detections_used[j].compare_and_swap(true, false)) continue; 252 | 253 | ROS_INFO("Allocating CLNF on face_detection %ld", j); 254 | 255 | clnfs_[i].Reset(); 256 | 257 | // This ensures that a wider window is used for the initial landmark localisation 258 | clnfs_[i].detection_success = false; 259 | LandmarkDetector::DetectLandmarksInVideo(cv_ptr->image, face_detections[j], clnfs_[i], model_params_); 260 | actives_[i] = true; 261 | break; 262 | } 263 | } 264 | else 265 | { 266 | LandmarkDetector::DetectLandmarksInVideo(cv_ptr->image, clnfs_[i], model_params_); 267 | } 268 | }); 269 | 270 | vector active_clnfs; 271 | for(unsigned i = 0; i < max_faces_; ++i) 272 | { 273 | if(!actives_[i]) continue; 274 | active_clnfs.push_back(&clnfs_[i]); 275 | } 276 | 277 | const auto redundancies = redundant_detections(active_clnfs); 278 | 279 | for(size_t i = 0; i < redundancies.size(); ++i) 280 | { 281 | if(redundancies[i] < 0) continue; 282 | 283 | cout << "Detected redundant CLNF at " << i << endl; 284 | actives_[i] = false; 285 | clnfs_[i].Reset(); 286 | } 287 | 288 | Faces faces; 289 | for(unsigned i = 0; i < max_faces_; ++i) 290 | { 291 | if(!actives_[i]) continue; 292 | 293 | auto &clnf = clnfs_[i]; 294 | auto &face_analyser = face_analysers_[i]; 295 | 296 | Face face; 297 | face.header.frame_id = img->header.frame_id; 298 | face.header.stamp = Time::now(); 299 | if(model_params_.track_gaze && clnf.eye_model) 300 | { 301 | Point3f left(0, 0, -1); 302 | Point3f right(0, 0, -1); 303 | FaceAnalysis::EstimateGaze(clnf, left, fx, fy, cx, cy, true); 304 | FaceAnalysis::EstimateGaze(clnf, right, fx, fy, cx, cy, false); 305 | 306 | face.left_gaze.x = left.x; 307 | face.left_gaze.y = left.y; 308 | face.left_gaze.z = left.z; 309 | 310 | face.right_gaze.x = right.x; 311 | face.right_gaze.y = right.y; 312 | face.right_gaze.z = right.z; 313 | } 314 | 315 | const auto head_pose = LandmarkDetector::GetCorrectedPoseWorld(clnf, fx, fy, cx, cy); 316 | face.head_pose.position.x = head_pose[0]; 317 | face.head_pose.position.y = head_pose[1]; 318 | face.head_pose.position.z = head_pose[2]; 319 | const auto head_orientation = toQuaternion(head_pose[3], head_pose[5], head_pose[4]); 320 | 321 | face.head_pose.orientation = toQuaternion(M_PI / 2, 0, M_PI / 2); 322 | face.head_pose.orientation = face.head_pose.orientation * head_orientation; 323 | 324 | // tf 325 | { 326 | geometry_msgs::TransformStamped transform; 327 | transform.header = face.header; 328 | stringstream out; 329 | out << "head" << i; 330 | transform.child_frame_id = out.str(); 331 | transform.transform.translation.x = face.head_pose.position.x / 1000.0; 332 | transform.transform.translation.y = face.head_pose.position.y / 1000.0; 333 | transform.transform.translation.z = face.head_pose.position.z / 1000.0; 334 | transform.transform.rotation = face.head_pose.orientation; 335 | tf_br_.sendTransform(transform); 336 | } 337 | 338 | if(clnf.tracking_initialised) 339 | { 340 | const auto &landmarks = clnf.detected_landmarks; 341 | for(unsigned i = 0; i < clnf.pdm.NumberOfPoints(); ++i) 342 | { 343 | geometry_msgs::Point p; 344 | p.x = landmarks.at(i); 345 | p.y = landmarks.at(clnf.pdm.NumberOfPoints() + i); 346 | face.landmarks_2d.push_back(p); 347 | } 348 | 349 | cv::Mat_ shape_3d = clnf.GetShape(fx, fy, cx, cy); 350 | for(unsigned i = 0; i < clnf.pdm.NumberOfPoints(); ++i) 351 | { 352 | geometry_msgs::Point p; 353 | p.x = shape_3d.at(i); 354 | p.y = shape_3d.at(clnf.pdm.NumberOfPoints() + i); 355 | p.z = shape_3d.at(clnf.pdm.NumberOfPoints() * 2 + i); 356 | face.landmarks_3d.push_back(p); 357 | } 358 | } 359 | 360 | vector> aus_reg; 361 | vector> aus_class; 362 | tie(aus_reg, aus_class) = face_analyser.PredictStaticAUs(cv_ptr->image, clnf); 363 | 364 | unordered_map aus; 365 | for(const auto &au_reg : aus_reg) 366 | { 367 | auto it = aus.find(get<0>(au_reg)); 368 | if(it == aus.end()) 369 | { 370 | ActionUnit u; 371 | u.name = get<0>(au_reg); 372 | u.intensity = get<1>(au_reg); 373 | aus.insert({ get<0>(au_reg), u}); 374 | continue; 375 | } 376 | 377 | it->second.intensity = get<1>(au_reg); 378 | } 379 | 380 | for(const auto &au_class : aus_class) 381 | { 382 | auto it = aus.find(get<0>(au_class)); 383 | if(it == aus.end()) 384 | { 385 | ActionUnit u; 386 | u.name = get<0>(au_class); 387 | u.presence = get<1>(au_class); 388 | aus.insert({ get<0>(au_class), u}); 389 | continue; 390 | } 391 | 392 | it->second.presence = get<1>(au_class); 393 | } 394 | 395 | for(const auto &au : aus) face.action_units.push_back(get<1>(au)); 396 | 397 | Point min(100000, 100000); 398 | Point max(0, 0); 399 | for(const auto &p : face.landmarks_2d) 400 | { 401 | if(p.x < min.x) min.x = p.x; 402 | if(p.y < min.y) min.y = p.y; 403 | if(p.x > max.x) max.x = p.x; 404 | if(p.y > max.y) max.y = p.y; 405 | } 406 | 407 | faces.faces.push_back(face); 408 | } 409 | 410 | faces_pub_.publish(faces); 411 | 412 | if(publish_viz_) 413 | { 414 | cv_bridge::CvImagePtr viz_ptr; 415 | try 416 | { 417 | viz_ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::BGR8); 418 | } 419 | catch(const cv_bridge::Exception &e) 420 | { 421 | ROS_ERROR("cv_bridge viz exception: %s", e.what()); 422 | return; 423 | } 424 | decltype(viz_ptr->image) viz_img = viz_ptr->image.clone(); 425 | 426 | for(unsigned i = 0; i < faces.faces.size(); ++i) 427 | { 428 | const auto &face = faces.faces[i]; 429 | auto &clnf = clnfs_[i]; 430 | for(const auto &p : face.landmarks_2d) 431 | { 432 | circle(viz_img, Point(p.x, p.y), 3, Scalar(255, 0, 0), -1); 433 | } 434 | 435 | if(model_params_.track_gaze && clnf.eye_model) 436 | { 437 | const Point3f left(face.left_gaze.x, face.left_gaze.y, face.left_gaze.z); 438 | const Point3f right(face.right_gaze.x, face.right_gaze.y, face.right_gaze.z); 439 | FaceAnalysis::DrawGaze(viz_img, clnf, left, right, fx, fy, cx, cy); 440 | } 441 | } 442 | 443 | auto viz_msg = cv_bridge::CvImage(img->header, "bgr8", viz_img).toImageMsg(); 444 | viz_pub_.publish(viz_msg); 445 | } 446 | } 447 | 448 | tf2_ros::TransformBroadcaster tf_br_; 449 | 450 | LandmarkDetector::FaceModelParameters model_params_; 451 | vector actives_; 452 | vector clnfs_; 453 | vector face_analysers_; 454 | 455 | string image_topic_; 456 | string clnf_model_path_; 457 | string tri_model_path_; 458 | string au_model_path_; 459 | string haar_model_path_; 460 | unsigned max_faces_; 461 | 462 | NodeHandle nh_; 463 | image_transport::ImageTransport it_; 464 | image_transport::CameraSubscriber camera_sub_; 465 | Publisher faces_pub_; 466 | 467 | bool publish_viz_; 468 | image_transport::Publisher viz_pub_; 469 | }; 470 | } 471 | 472 | int main(int argc, char *argv[]) 473 | { 474 | init(argc, argv, "openface_ros"); 475 | 476 | using namespace openface_ros; 477 | 478 | NodeHandle nh; 479 | 480 | try 481 | { 482 | OpenFaceRos openface_(nh); 483 | spin(); 484 | } 485 | catch(const exception &e) 486 | { 487 | ROS_FATAL("%s", e.what()); 488 | return EXIT_FAILURE; 489 | } 490 | 491 | return EXIT_SUCCESS; 492 | } 493 | -------------------------------------------------------------------------------- /model/pdms/Multi-PIE_aligned_PDM_68.txt: -------------------------------------------------------------------------------- 1 | # The mean values of the components (in mm) 2 | 204 3 | 1 4 | 6 5 | -74.907476 6 | -73.885990 7 | -71.489258 8 | -67.482519 9 | -60.629789 10 | -49.691406 11 | -35.497591 12 | -18.891692 13 | 0.105636 14 | 19.085146 15 | 35.647665 16 | 49.792618 17 | 60.675798 18 | 67.467724 19 | 71.412137 20 | 73.748052 21 | 74.707721 22 | -58.458668 23 | -49.527553 24 | -38.577366 25 | -27.361808 26 | -16.609493 27 | 16.437446 28 | 27.173888 29 | 38.379921 30 | 49.329869 31 | 58.272633 32 | -0.044580 33 | -0.019917 34 | 0.004603 35 | 0.028615 36 | -12.698018 37 | -6.535473 38 | 0.041603 39 | 6.612439 40 | 12.762422 41 | -43.886056 42 | -36.751464 43 | -28.218240 44 | -21.229092 45 | -28.717232 46 | -36.629921 47 | 21.119565 48 | 28.093004 49 | 36.622605 50 | 43.765142 51 | 36.521022 52 | 28.611100 53 | -26.653333 54 | -19.053937 55 | -9.906007 56 | 0.059738 57 | 10.017459 58 | 19.165211 59 | 26.764528 60 | 19.820436 61 | 10.655324 62 | 0.089141 63 | -10.485863 64 | -19.676019 65 | -20.099832 66 | -10.413211 67 | 0.066036 68 | 10.540162 69 | 20.221242 70 | 10.704606 71 | 0.073169 72 | -10.566624 73 | -28.812217 74 | -9.662052 75 | 9.454018 76 | 28.239136 77 | 45.813647 78 | 60.982433 79 | 73.280172 80 | 82.547123 81 | 85.839987 82 | 82.491573 83 | 73.176472 84 | 60.837946 85 | 45.637786 86 | 28.043667 87 | 9.247651 88 | -9.875205 89 | -29.028947 90 | -57.238019 91 | -63.739913 92 | -66.320592 93 | -65.657067 94 | -62.730330 95 | -62.772247 96 | -65.732441 97 | -66.431039 98 | -63.884164 99 | -57.408209 100 | -43.494093 101 | -32.323206 102 | -21.219201 103 | -10.154099 104 | 1.865699 105 | 3.812307 106 | 4.550229 107 | 3.795547 108 | 1.833301 109 | -39.575745 110 | -44.012326 111 | -44.271766 112 | -40.257729 113 | -37.775364 114 | -37.398870 115 | -40.324420 116 | -44.356723 117 | -44.121200 118 | -39.703605 119 | -37.507475 120 | -37.862166 121 | 30.198595 122 | 23.732715 123 | 19.281161 124 | 19.985394 125 | 19.255417 126 | 23.681657 127 | 30.124395 128 | 37.039208 129 | 41.464305 130 | 42.768918 131 | 41.494874 132 | 37.095259 133 | 29.677178 134 | 26.828533 135 | 26.647927 136 | 26.799121 137 | 29.618278 138 | 31.751934 139 | 32.973459 140 | 31.783409 141 | 64.083586 142 | 59.604237 143 | 55.630937 144 | 51.270408 145 | 45.264067 146 | 38.374113 147 | 30.298802 148 | 21.248638 149 | 16.868691 150 | 21.260056 151 | 30.328419 152 | 38.423826 153 | 45.328428 154 | 51.345204 155 | 55.721454 156 | 59.708635 157 | 64.196230 158 | 14.422033 159 | 8.686064 160 | 2.801790 161 | -2.729174 162 | -7.926259 163 | -7.862783 164 | -2.662158 165 | 2.869104 166 | 8.753808 167 | 14.496714 168 | -20.448168 169 | -30.505334 170 | -40.604505 171 | -50.582207 172 | -32.451571 173 | -35.110317 174 | -36.937315 175 | -35.089217 176 | -32.412092 177 | 5.389048 178 | 2.570176 179 | 0.218247 180 | -2.269159 181 | -0.023830 182 | 2.115026 183 | -2.270098 184 | 0.239954 185 | 2.611755 186 | 5.453688 187 | 2.158551 188 | -0.000314 189 | -13.185956 190 | -22.510052 191 | -29.160533 192 | -32.817646 193 | -29.120915 194 | -22.445438 195 | -13.108197 196 | -20.287321 197 | -26.767387 198 | -29.589010 199 | -26.786669 200 | -20.332165 201 | -18.723657 202 | -27.229468 203 | -31.286473 204 | -27.203927 205 | -18.701761 206 | -23.325596 207 | -25.935592 208 | -23.339431 209 | # The principal components (eigenvectors) of identity or combined identity and expression model 210 | 204 211 | 23 212 | 6 213 | 0.091320 0.067697 -0.110358 0.031348 -0.109998 -0.043192 -0.136032 -0.076720 0.087824 0.044042 -0.013550 0.008589 -0.048083 -0.092181 0.092934 -0.015199 0.030018 0.050299 -0.164361 -0.135929 -0.022901 0.070813 0.074105 214 | 0.090053 0.056855 -0.105143 0.048205 -0.137315 -0.027200 -0.087300 -0.073239 0.091754 0.044206 0.000382 0.024519 -0.033513 -0.072470 0.101305 -0.035842 0.021397 0.073502 -0.106065 -0.105874 0.013498 0.075177 0.084792 215 | 0.089704 0.037096 -0.101815 0.061521 -0.160838 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-0.032029 -0.047096 -0.011275 0.101608 0.038382 402 | 0.031961 -0.037518 0.145679 0.021693 -0.059740 0.053520 0.003348 0.064036 0.047561 -0.068056 -0.005875 -0.005389 -0.102336 -0.039437 0.009419 0.074184 0.056117 -0.016141 0.032853 -0.087198 0.035348 0.086760 0.091032 403 | 0.075895 -0.006400 0.167295 0.076600 -0.058269 0.060814 -0.002476 0.035721 -0.003644 -0.102351 -0.057967 0.017786 -0.183456 -0.082695 0.023161 0.088710 0.055063 0.014349 0.055233 -0.085402 0.127212 0.042032 0.148731 404 | 0.079230 -0.024711 0.109135 0.037787 -0.038784 0.003330 0.034484 0.063863 -0.011348 -0.087797 -0.013535 0.006485 -0.113409 -0.017592 0.004977 0.013853 0.030234 0.036630 -0.002867 -0.038980 0.033412 -0.044698 0.105429 405 | 0.051675 -0.054522 0.050520 -0.004887 -0.019062 -0.051016 0.053209 0.074677 -0.017411 -0.051624 0.035007 -0.016152 -0.048910 0.026899 0.017409 -0.029509 0.004375 0.029169 -0.048670 -0.005679 -0.026781 -0.153869 0.058451 406 | 0.039556 -0.070671 0.008498 -0.031640 -0.003894 -0.095262 0.069079 0.062016 -0.000151 -0.000894 0.078499 -0.030044 -0.004237 0.064258 0.030266 -0.012247 -0.002919 0.006927 -0.083768 -0.018979 -0.078678 -0.219661 0.008161 407 | 0.051833 -0.054765 0.049895 -0.005192 -0.018823 -0.051922 0.052469 0.075164 -0.014954 0.050192 0.036899 -0.016087 0.044046 0.031262 0.016613 -0.027766 -0.008071 -0.021535 -0.053924 -0.014113 -0.023488 -0.155497 -0.043035 408 | 0.079383 -0.024547 0.108830 0.038247 -0.036867 0.001570 0.032310 0.066953 -0.007222 0.087229 -0.006709 0.006794 0.111574 -0.009036 0.002961 0.014293 -0.038599 -0.035991 -0.008504 0.037115 0.015596 -0.051643 -0.098056 409 | 0.144108 0.023833 0.210733 0.031591 -0.059646 0.003043 -0.102283 -0.012721 -0.102885 0.175549 -0.057728 0.072258 0.225509 0.038803 -0.066549 -0.120286 0.195125 0.072363 0.108993 0.071842 -0.015195 0.056219 -0.097176 410 | 0.022333 -0.048589 0.128472 -0.008328 -0.078016 -0.025266 -0.051956 0.029051 0.011046 0.079465 -0.038228 0.018401 0.098178 0.062052 -0.001465 -0.038823 0.090318 0.047318 -0.026470 0.040963 0.047517 0.053465 -0.041889 411 | -0.061457 -0.088535 0.070973 -0.012616 -0.068967 -0.073790 0.016160 0.050480 0.130572 -0.002697 -0.003664 -0.017939 -0.001248 0.098222 0.052866 0.062872 -0.011868 0.017901 -0.163166 -0.010316 0.032337 0.019060 -0.002854 412 | 0.021979 -0.049490 0.127429 -0.009883 -0.080038 -0.024367 -0.046620 0.022104 0.010781 -0.083181 -0.047125 0.018999 -0.096739 0.062325 -0.000728 -0.054757 -0.086306 -0.040301 -0.034877 -0.027398 0.073444 0.059353 0.038798 413 | 0.142694 0.022419 0.209582 0.029398 -0.063686 0.004604 -0.091487 -0.026014 -0.105037 -0.177208 -0.077247 0.073338 -0.222836 0.037657 -0.064264 -0.154528 -0.166751 -0.093826 0.089637 -0.055384 0.030980 0.065702 0.091014 414 | 0.116813 -0.015290 0.098294 -0.027889 -0.037219 -0.024853 0.001723 0.038184 -0.031296 -0.079111 -0.018053 0.064650 -0.096347 0.069229 -0.022347 -0.072090 -0.072641 -0.038239 0.025412 -0.029043 -0.087848 -0.100824 0.039553 415 | 0.089323 -0.051246 0.009126 -0.046362 -0.009383 -0.073680 0.099634 0.076495 0.056663 -0.001649 0.055586 0.041026 -0.003175 0.099148 0.026202 0.031114 -0.000590 0.005485 -0.070567 -0.026852 -0.193679 -0.213317 0.003024 416 | 0.117592 -0.015042 0.098196 -0.027487 -0.036629 -0.025410 -0.002671 0.042636 -0.029774 0.076182 -0.010119 0.064261 0.095826 0.070074 -0.022651 -0.055786 0.090197 0.029593 0.033172 0.012973 -0.109351 -0.104770 -0.034005 417 | # The variances of the components (eigenvalues) of identity or combined identity and expression model 418 | 1 419 | 23 420 | 6 421 | 795.358907 526.466957 323.962380 149.332995 108.218528 86.462266 78.978172 71.817921 63.124413 56.631775 49.840502 37.133586 32.292271 27.991391 25.613033 20.062292 16.082399 14.009888 12.585536 4.127530 1.562736 1.104694 0.909219 422 | -------------------------------------------------------------------------------- /model/pdms/Multi-PIE_aligned_PDM_66.txt: -------------------------------------------------------------------------------- 1 | # The mean values of the components (in mm) 2 | 198 3 | 1 4 | 6 5 | -73.447014 6 | -72.593444 7 | -70.508936 8 | -66.868861 9 | -60.414326 10 | -49.631717 11 | -35.391108 12 | -18.754141 13 | 0.114597 14 | 19.016913 15 | 35.598673 16 | 49.771346 17 | 60.477080 18 | 66.851714 19 | 70.423155 20 | 72.449235 21 | 73.242955 22 | -58.203530 23 | -49.478500 24 | -38.505934 25 | -27.177561 26 | -16.300987 27 | 16.156900 28 | 27.016187 29 | 38.332565 30 | 49.304224 31 | 58.038529 32 | -0.040354 33 | -0.033363 34 | -0.017873 35 | 0.004084 36 | -12.557676 37 | -6.454282 38 | 0.021435 39 | 6.508846 40 | 12.601163 41 | -43.222559 42 | -36.097646 43 | -27.574181 44 | -20.557521 45 | -28.056401 46 | -35.953854 47 | 20.451629 48 | 27.455875 49 | 35.977844 50 | 43.113320 51 | 35.851506 52 | 27.955232 53 | -26.517287 54 | -19.122816 55 | -10.001914 56 | 0.033411 57 | 10.096699 58 | 19.222369 59 | 26.631040 60 | 19.826245 61 | 10.719912 62 | 0.073977 63 | -10.546541 64 | -19.679901 65 | -10.743288 66 | 0.054542 67 | 10.855802 68 | 11.052930 69 | 0.066245 70 | -10.914660 71 | -24.746512 72 | -5.563341 73 | 13.586104 74 | 31.935985 75 | 48.494172 76 | 62.540756 77 | 73.747225 78 | 81.753306 79 | 83.703222 80 | 81.701197 81 | 73.643185 82 | 62.391933 83 | 48.310331 84 | 31.731624 85 | 13.372130 86 | -5.780379 87 | -24.966474 88 | -55.382734 89 | -62.743537 90 | -65.767452 91 | -65.366721 92 | -62.577889 93 | -62.609412 94 | -65.431918 95 | -65.867839 96 | -62.878026 97 | -55.545001 98 | -42.794388 99 | -31.898600 100 | -21.092928 101 | -10.293158 102 | 2.090045 103 | 3.917313 104 | 4.546474 105 | 3.913121 106 | 2.066722 107 | -38.786133 108 | -43.150534 109 | -43.235540 110 | -38.961437 111 | -36.861866 112 | -36.568711 113 | -39.010632 114 | -43.306353 115 | -43.245963 116 | -38.901782 117 | -36.662572 118 | -36.932904 119 | 30.400416 120 | 23.498452 121 | 18.833915 122 | 19.206597 123 | 18.816801 124 | 23.452358 125 | 30.330913 126 | 37.487315 127 | 41.984978 128 | 42.996350 129 | 42.005283 130 | 37.535894 131 | 26.744930 132 | 26.063568 133 | 26.723925 134 | 32.163959 135 | 33.052706 136 | 32.187531 137 | 78.681255 138 | 76.697610 139 | 75.100729 140 | 67.144829 141 | 48.865709 142 | 28.603564 143 | 11.177305 144 | -4.295402 145 | -17.795472 146 | -4.239701 147 | 11.236558 148 | 28.650983 149 | 48.897325 150 | 67.163067 151 | 75.133633 152 | 76.746544 153 | 78.714887 154 | 1.731363 155 | -4.557739 156 | -9.659810 157 | -14.615709 158 | -19.199130 159 | -19.060969 160 | -14.484504 161 | -9.533992 162 | -4.439184 163 | 1.839139 164 | -17.498844 165 | -27.916448 166 | -38.687865 167 | -48.878729 168 | -23.622361 169 | -26.603554 170 | -29.386742 171 | -26.488498 172 | -23.509038 173 | -2.510802 174 | -3.222846 175 | -3.712807 176 | -2.897381 177 | -3.340207 178 | -3.258814 179 | -2.796041 180 | -3.614055 181 | -3.114678 182 | -2.391598 183 | -3.139280 184 | -3.231401 185 | -10.336622 186 | -18.125938 187 | -24.157414 188 | -30.363981 189 | -24.048139 190 | -18.017482 191 | -10.235142 192 | -15.032664 193 | -19.983990 194 | -25.047636 195 | -20.087424 196 | -15.139002 197 | -19.356132 198 | -27.503141 199 | -19.258370 200 | -16.964648 201 | -23.973005 202 | -17.050167 203 | # The principal components (eigenvectors) of identity or combined identity and expression model 204 | 198 205 | 24 206 | 6 207 | -0.131273 0.061642 -0.012510 0.102280 -0.050892 0.032543 -0.075885 0.038389 -0.127712 0.121736 -0.051410 0.006800 -0.109190 0.068214 -0.191040 0.005581 -0.001793 0.030290 -0.014701 0.054678 -0.099910 0.129486 -0.039664 0.030211 208 | -0.130535 0.076644 0.005955 0.128992 -0.087766 0.003856 -0.062712 0.011035 -0.104311 0.121196 -0.051551 -0.031437 -0.072782 0.078546 -0.149843 0.002235 -0.009600 0.014969 -0.023432 0.076747 -0.057106 0.057651 -0.045418 0.037971 209 | -0.131360 0.097772 0.019892 0.147686 -0.117376 -0.003328 -0.044024 -0.011450 -0.072751 0.113932 -0.046556 -0.055102 0.000908 0.067126 -0.101982 -0.000479 -0.013325 -0.013626 -0.032762 0.091546 -0.014217 -0.020913 -0.046980 0.035342 210 | -0.137970 0.110929 0.030689 0.139783 -0.115369 0.026630 -0.019212 -0.029754 -0.010726 0.072704 -0.021451 -0.056577 0.082231 0.025464 -0.003511 0.005508 -0.024960 -0.025544 -0.036912 0.062564 0.039080 -0.055324 -0.046860 0.017641 211 | -0.135135 0.110637 0.050661 0.102334 -0.098664 0.080015 0.005429 -0.036857 0.072405 0.012258 0.033956 -0.045079 0.148257 -0.040902 0.133200 0.012816 -0.043055 -0.021025 -0.013320 -0.013401 0.114790 -0.030526 -0.022542 -0.008660 212 | -0.100221 0.089414 0.064057 0.061401 -0.066814 0.071042 0.011659 -0.031420 0.110299 -0.020965 0.069839 -0.033725 0.138080 -0.122631 0.195694 -0.001764 -0.028688 -0.044580 0.021239 -0.074578 0.157209 -0.004682 0.016493 -0.018792 213 | -0.051976 0.055863 0.055121 0.032228 -0.022272 0.031244 0.013022 -0.025100 0.085963 -0.019700 0.073384 -0.035730 0.068265 -0.200993 0.161503 -0.009745 0.021018 -0.059450 0.046151 -0.071870 0.151306 0.019038 0.028337 0.009588 214 | -0.012118 0.022021 0.029027 0.018045 0.000934 0.009319 0.003756 -0.016914 0.037117 -0.004160 0.068224 -0.022136 0.020698 -0.271194 0.080781 -0.005545 0.106564 -0.049508 0.044223 -0.049700 0.116584 0.030734 0.037658 0.019211 215 | -0.001496 -0.003386 -0.001635 0.001533 -0.003370 0.023643 -0.004987 0.000648 -0.000476 0.004318 0.062219 0.001774 0.003329 -0.347090 -0.004710 -0.005730 0.179671 0.001995 0.003775 -0.039326 0.114391 0.011512 0.046072 -0.002301 216 | 0.010156 -0.026698 -0.034295 -0.017574 -0.007795 0.007692 -0.010272 0.019016 -0.035864 0.008549 0.064502 0.028715 -0.008884 -0.273566 -0.081852 -0.001133 0.107864 0.054134 -0.039650 -0.030460 0.123967 -0.011016 0.045932 -0.017967 217 | 0.050475 -0.060045 -0.059978 -0.031345 0.017962 0.028792 -0.020342 0.027766 -0.085041 0.023528 0.067875 0.042232 -0.060356 -0.206706 -0.162667 0.012045 0.023279 0.064628 -0.042433 -0.031479 0.167069 -0.007401 0.030965 -0.000492 218 | 0.099327 -0.092823 -0.068503 -0.059721 0.066651 0.067454 -0.020423 0.035253 -0.109560 0.023854 0.064577 0.039736 -0.133331 -0.132567 -0.197720 0.008731 -0.027289 0.049747 -0.018088 -0.031922 0.172937 0.005670 0.008896 0.030979 219 | 0.134832 -0.112930 -0.054432 -0.101018 0.100680 0.077060 -0.013236 0.041442 -0.071489 -0.011067 0.031190 0.049373 -0.145540 -0.052449 -0.135671 -0.005866 -0.044700 0.024214 0.015403 -0.056540 0.100198 0.008994 -0.039469 0.017290 220 | 0.138185 -0.111981 -0.033264 -0.140688 0.115232 0.026089 0.016312 0.033420 0.011362 -0.073244 -0.020374 0.057861 -0.080955 0.015932 0.001458 -0.002179 -0.026825 0.025950 0.037674 -0.074353 -0.008133 0.019461 -0.076201 -0.015515 221 | 0.131982 -0.097616 -0.021277 -0.149817 0.116660 -0.002810 0.044505 0.014100 0.072832 -0.115723 -0.042691 0.054624 -0.000761 0.060145 0.100303 0.001612 -0.013223 0.012744 0.032584 -0.067128 -0.068838 -0.010357 -0.061317 -0.038451 222 | 0.131569 -0.075260 -0.006352 -0.131216 0.089215 0.006368 0.064227 -0.008742 0.103968 -0.124092 -0.045800 0.030087 0.073130 0.073717 0.148378 -0.001695 -0.009349 -0.015794 0.022791 -0.030641 -0.093172 -0.078192 -0.021389 -0.044189 223 | 0.132692 -0.059063 0.012959 -0.103988 0.056043 0.038127 0.077019 -0.035808 0.126882 -0.125517 -0.043474 -0.008736 0.110533 0.064482 0.189624 -0.005446 -0.001524 -0.030614 0.013591 0.011999 -0.112879 -0.138665 0.020561 -0.038379 224 | -0.103256 0.020891 -0.110162 -0.212634 0.058183 0.138030 -0.200849 0.100068 -0.022495 0.002709 0.153038 0.054887 -0.024530 -0.007414 0.049195 0.197049 -0.022827 -0.045753 0.186816 -0.052449 -0.132988 0.030237 0.015215 0.024104 225 | -0.080994 0.010985 -0.094549 -0.264861 0.003874 0.102996 -0.116142 0.005617 -0.017761 0.061246 0.173548 0.032150 -0.019111 -0.056125 0.005898 0.140163 -0.037308 -0.052262 0.076745 -0.021728 -0.140151 -0.032839 -0.049225 0.028646 226 | -0.060263 0.002721 -0.066287 -0.241913 -0.043231 0.048059 0.014406 -0.119970 -0.045232 0.070887 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0.026600 -0.056937 -0.027703 -0.029589 0.036149 -0.017405 -0.005140 -0.014149 346 | 0.003043 0.002636 -0.007479 0.021282 0.022862 0.026962 0.012532 0.017070 -0.011934 -0.027974 -0.031975 -0.014367 0.009348 0.001082 -0.006111 0.023087 0.042828 -0.015792 -0.000859 -0.010996 0.010873 0.003257 0.004459 0.021874 347 | 0.003741 0.016913 -0.001204 -0.017634 -0.016073 0.036588 0.022771 0.035887 0.015065 -0.020207 -0.010793 -0.000589 0.017515 -0.028759 -0.005286 0.026388 0.045892 -0.023168 0.012083 0.037597 0.001342 0.008441 -0.027373 0.056358 348 | 0.006235 0.002336 -0.014149 0.012474 0.020734 -0.047581 0.012805 0.019052 -0.009281 -0.032040 0.036141 -0.011251 0.009517 0.003028 -0.009339 0.025537 -0.049242 -0.015047 0.003361 0.000855 -0.014520 -0.007131 0.002813 0.033132 349 | 0.021965 -0.001009 -0.015741 0.019932 -0.015721 -0.035531 0.037303 -0.002551 0.003316 -0.020857 0.030647 -0.007770 0.014825 -0.001334 -0.003715 -0.011282 -0.035968 -0.059442 -0.024581 0.000602 -0.041615 -0.016669 0.018792 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0.109536 0.018845 -0.002766 -0.046065 0.060109 0.023434 0.024933 -0.030917 0.021761 0.016546 -0.033368 -0.000156 -0.037766 -0.016409 0.003256 -0.032063 -0.016957 0.022986 -0.020118 355 | 0.025479 -0.016511 0.031827 0.041393 -0.008403 0.126612 0.007288 0.001233 -0.035336 0.029687 0.040922 -0.007776 -0.013868 -0.005459 -0.027831 -0.001951 0.005347 0.020879 0.007693 0.007357 0.014333 -0.017694 0.012221 -0.043917 356 | 0.003189 0.026538 0.038597 0.018669 0.012396 -0.003064 -0.024561 -0.002817 0.002622 -0.000148 0.017020 0.022609 -0.004868 0.005963 0.023348 -0.028816 -0.032968 0.005698 -0.055577 0.020448 0.022584 0.024768 0.047859 0.001740 357 | 0.000463 0.019463 0.024278 -0.029989 0.006319 -0.005217 -0.013751 0.006275 0.010675 0.049628 0.022928 0.001551 0.009671 -0.024186 0.018628 0.002273 -0.059675 0.026343 -0.063193 0.033560 0.003140 0.020410 0.001326 0.016946 358 | -0.000029 0.020658 0.017072 -0.027930 0.007062 -0.017970 -0.006258 -0.005185 0.004557 0.025434 0.022254 0.009542 0.011170 -0.004279 0.003404 0.005904 -0.053521 0.031271 -0.024813 0.038249 0.003914 0.022292 -0.001279 0.009964 359 | 0.003294 0.025279 0.021921 -0.021950 0.016281 -0.028948 -0.013909 -0.011395 -0.011052 -0.005952 0.021898 0.008144 0.008008 0.011346 -0.002342 0.008934 -0.040320 0.014749 0.007476 0.035145 0.004734 0.013044 0.014277 0.001855 360 | 0.008232 0.024965 0.029824 -0.004269 0.019641 -0.043536 -0.030921 -0.012568 -0.008932 -0.041767 0.012154 0.000783 -0.004622 0.026748 0.019253 0.007897 -0.032740 -0.002789 0.020610 0.019074 0.013518 -0.004310 0.037242 -0.007354 361 | 0.010354 0.027336 0.023251 -0.015652 0.025251 0.036485 -0.033761 -0.007033 -0.005841 -0.047403 -0.018907 0.006933 0.007124 -0.023824 0.008963 -0.000927 0.036586 0.012466 0.022380 0.013472 -0.003293 -0.035777 -0.027321 -0.012812 362 | 0.004813 0.027050 0.017023 -0.030956 0.020204 0.026792 -0.015645 -0.007011 -0.008335 -0.010363 -0.029818 0.012299 0.017923 -0.008348 -0.009660 -0.000164 0.045111 0.026769 0.008711 0.022239 0.011627 -0.005512 -0.015953 -0.003064 363 | 0.000766 0.021777 0.013939 -0.033866 0.009609 0.020486 -0.007124 -0.001779 0.006741 0.022061 -0.029365 0.012405 0.019471 0.006576 -0.002112 -0.003785 0.059780 0.041340 -0.023649 0.024858 0.014139 0.012995 -0.007512 0.005546 364 | 0.000800 0.019861 0.022529 -0.033132 0.007255 0.008814 -0.013329 0.008770 0.012220 0.047301 -0.028907 0.002944 0.016370 0.025151 0.014628 -0.007662 0.068549 0.034586 -0.062338 0.021464 0.011355 0.013293 -0.010281 0.012728 365 | 0.003226 0.025832 0.036768 0.019095 0.012590 0.005204 -0.023585 -0.000822 0.003035 -0.000961 -0.021105 0.022764 0.001173 -0.008868 0.020613 -0.035042 0.039000 0.010165 -0.056131 0.022830 -0.009516 -0.002921 -0.057879 -0.004983 366 | 0.001974 0.012342 0.008902 -0.001035 -0.014319 -0.014808 -0.005193 -0.002275 0.011929 -0.018206 0.019006 0.009941 0.038655 0.005308 0.018479 0.030950 -0.036894 -0.017445 0.032165 -0.091752 0.005902 -0.021467 0.001966 -0.009808 367 | -0.004216 0.004994 -0.016522 -0.029024 0.004502 0.007034 0.013316 0.000795 -0.012080 0.017514 0.036897 -0.007448 0.020571 -0.003682 0.025414 0.004514 -0.022096 -0.025326 0.029382 -0.047762 -0.017414 0.005327 -0.013496 0.012521 368 | -0.018832 -0.002126 -0.034571 -0.026174 0.029176 0.018516 0.009517 0.001888 -0.008390 0.017435 0.027928 -0.015628 0.017215 -0.007801 0.016744 -0.024043 -0.014056 0.003402 0.019569 -0.013736 -0.015438 0.013625 -0.001066 0.006400 369 | -0.028577 -0.003106 -0.035186 0.006865 0.039718 0.022501 -0.012257 -0.000103 0.031018 -0.027697 -0.003165 -0.006225 0.003329 0.006415 -0.021346 -0.045658 -0.008373 0.037353 0.024522 0.008467 0.007100 0.009292 0.037864 -0.028296 370 | -0.010439 -0.016610 -0.032891 0.026755 0.038727 0.019621 -0.001639 -0.035212 0.021531 0.043250 -0.011573 -0.047443 -0.090454 0.017415 0.029955 -0.029753 -0.016593 0.003223 0.000312 -0.050431 -0.067987 0.007906 -0.010813 0.001715 371 | -0.018644 -0.010357 -0.028056 -0.000468 0.032730 0.008727 -0.000374 -0.021592 0.004388 0.003520 0.005170 -0.016747 -0.034045 0.003118 0.010412 -0.016663 0.001397 -0.000975 0.017040 -0.015979 -0.012284 -0.003719 0.001706 -0.008266 372 | -0.024274 -0.003386 -0.017513 -0.036282 0.010578 0.005796 0.000745 -0.000204 -0.000937 -0.029211 0.016619 0.019301 0.020013 -0.001295 -0.025894 0.021730 0.004179 0.018245 0.011996 0.012299 0.036561 -0.004257 0.003014 0.001946 373 | -0.014891 -0.008411 -0.036029 -0.015021 0.034034 -0.016902 -0.000349 -0.017533 0.008122 -0.003290 -0.006353 -0.011299 -0.025911 0.001618 0.002149 -0.022488 -0.009485 0.009421 0.019984 -0.027222 0.008181 -0.016199 0.011061 -0.004347 374 | -0.007543 -0.015474 -0.040189 0.015384 0.038625 -0.027574 -0.000491 -0.031990 0.023963 0.036850 0.011293 -0.042285 -0.082698 -0.016002 0.021122 -0.035817 0.009754 0.014281 0.004730 -0.087198 0.033671 -0.000797 0.015535 0.007350 375 | 0.007930 0.023774 0.036743 -0.014038 -0.036477 -0.006774 0.011374 0.022541 -0.022535 0.042305 0.026335 0.036750 0.021916 0.007611 -0.005653 -0.015182 -0.047638 -0.014341 0.054505 -0.043196 0.023290 -0.056673 -0.015723 -0.007742 376 | -0.004915 0.015933 0.017345 -0.015680 -0.017967 -0.004915 0.011614 0.016946 0.029827 0.028125 0.011868 -0.004711 -0.005276 -0.001960 -0.009475 0.009741 -0.046956 0.011883 0.007010 -0.018339 -0.002865 -0.004312 -0.013932 -0.006942 377 | -0.003521 0.004654 -0.015590 -0.013889 0.004395 -0.008732 0.007700 -0.004791 0.067569 -0.003581 0.005624 -0.039265 -0.012761 -0.005771 -0.015968 0.006255 -0.033275 -0.009690 -0.041270 0.014617 -0.023760 0.048481 -0.000051 -0.022552 378 | 0.000458 0.005431 -0.018104 -0.000980 0.011696 -0.042760 -0.002120 -0.006394 0.021871 -0.044384 0.017191 0.023310 -0.058988 -0.023639 0.049743 -0.022378 0.011228 -0.017895 -0.021546 0.054782 -0.005029 0.079345 0.046779 0.008618 379 | -0.000473 -0.003483 -0.000317 -0.000032 -0.013100 -0.027729 -0.010188 -0.006816 0.024254 -0.025317 0.025138 -0.003575 -0.027818 -0.016550 0.033888 -0.020679 -0.003022 -0.026972 0.004090 0.018494 0.016316 0.039096 0.026870 -0.021700 380 | -0.000384 0.006795 0.002821 0.001952 -0.016537 -0.017312 -0.006126 -0.003212 0.008095 0.008878 0.020727 0.007447 -0.003471 -0.004029 0.015335 -0.019076 -0.026372 -0.019477 0.020929 -0.007807 0.020166 -0.006328 0.008143 -0.024274 381 | 0.002071 0.006466 -0.023492 -0.007974 0.015683 0.036241 -0.004189 -0.003038 0.024520 -0.048551 -0.020624 0.025659 -0.052563 0.020100 0.044440 -0.026317 -0.003525 -0.010101 -0.021391 0.035466 0.034123 0.038210 -0.080648 0.006556 382 | -0.002402 0.005398 -0.019679 -0.020452 0.005835 0.006932 0.007837 -0.002300 0.069086 -0.006995 -0.007547 -0.036643 -0.005613 0.005258 -0.021338 -0.000437 0.040201 0.000064 -0.039798 -0.010442 0.026457 0.034652 -0.023664 -0.024801 383 | -0.003825 0.016801 0.014153 -0.022104 -0.016761 0.006166 0.011717 0.019730 0.031672 0.024962 -0.015533 -0.002099 0.002298 0.002520 -0.014551 0.001733 0.051460 0.020880 0.007994 -0.024340 -0.011603 -0.003149 0.015724 -0.010346 384 | 0.009293 0.025153 0.034610 -0.021073 -0.035140 0.010154 0.010695 0.025885 -0.019886 0.039855 -0.033031 0.039020 0.029686 -0.005553 -0.011205 -0.023293 0.045845 -0.005817 0.054993 -0.027600 -0.047966 -0.047026 0.044749 -0.012053 385 | 0.001196 0.008104 -0.000550 -0.005319 -0.014490 0.017382 -0.007183 0.000135 0.010803 0.005711 -0.024559 0.010185 0.003984 0.004249 0.009649 -0.025892 0.026929 -0.011175 0.020838 -0.000927 -0.021532 -0.016130 -0.001564 -0.027490 386 | 0.001089 -0.002355 -0.004514 -0.007150 -0.010291 0.025128 -0.011639 -0.003498 0.027026 -0.029088 -0.027714 -0.001506 -0.021034 0.014769 0.028630 -0.025597 0.007130 -0.019412 0.003749 0.018448 -0.003519 0.014143 -0.041945 -0.024701 387 | -0.014752 -0.007321 0.013877 -0.002884 -0.024108 0.002303 -0.026512 0.020183 -0.015461 -0.030184 -0.006267 0.026068 0.044433 -0.016670 0.030474 0.011557 0.027340 0.038203 -0.005839 0.006177 0.027136 0.000316 0.019255 0.000552 388 | -0.016868 -0.029752 0.004473 -0.020764 -0.021435 0.027753 -0.000612 0.014380 -0.000613 0.002858 0.009706 -0.012946 0.027082 -0.001179 0.028245 0.039466 0.007036 0.048356 -0.016487 -0.020655 0.013899 0.035330 -0.037198 0.035797 389 | -0.020584 -0.025552 0.009208 -0.010018 -0.001434 0.030711 0.008708 -0.025079 0.018193 -0.004982 0.019040 -0.024397 0.011371 0.005362 0.014803 0.024863 0.004075 -0.004452 0.006803 -0.034515 0.013896 0.032023 -0.042288 0.024877 390 | -0.007172 -0.030730 -0.013156 0.002041 0.013713 0.018878 -0.002702 -0.036444 -0.004836 -0.014642 0.027953 -0.026214 0.006306 -0.001831 0.021305 -0.037591 0.021327 -0.044823 0.050411 -0.036042 0.008177 0.014946 -0.015597 -0.013038 391 | -0.017181 -0.023576 0.003032 -0.025203 -0.001919 -0.036232 0.009083 -0.022286 0.022601 -0.010671 -0.019965 -0.020816 0.016805 0.003686 0.009380 0.019998 -0.010796 0.002809 0.008988 -0.025250 -0.024145 0.039778 0.034154 0.028887 392 | -0.014072 -0.028410 -0.000822 -0.033387 -0.022436 -0.033373 -0.000370 0.016901 0.003275 -0.002184 -0.011401 -0.010105 0.031211 0.010900 0.023483 0.035466 -0.010793 0.053986 -0.014690 -0.011441 -0.019274 0.041437 0.027803 0.041183 393 | -0.011745 -0.006901 0.008132 -0.012160 -0.024078 -0.016750 -0.027255 0.023374 -0.012432 -0.034736 0.001738 0.028410 0.047103 0.022609 0.024876 0.009700 -0.029335 0.042447 -0.004444 0.021981 -0.024490 -0.016464 -0.009335 0.005723 394 | 0.013230 -0.012106 -0.008624 0.006624 -0.005346 -0.037879 -0.023831 0.001700 -0.000246 -0.040315 0.016171 -0.000787 0.040941 -0.027783 -0.034923 0.000944 -0.023770 -0.015075 0.022171 0.070943 0.004816 -0.018620 0.009349 0.002391 395 | 0.017298 0.003296 0.001998 -0.019318 -0.015374 -0.040235 -0.032471 -0.025113 0.013205 -0.017560 -0.001988 -0.032933 0.018524 0.000793 -0.025342 0.018806 -0.022045 -0.076625 0.010375 0.067569 0.001278 -0.039650 0.037479 0.024286 396 | 0.026498 0.011392 -0.000362 -0.042663 -0.029473 0.013919 -0.020835 -0.008795 -0.003774 0.015161 0.010246 -0.040784 0.002108 -0.020452 -0.003005 0.013382 0.020127 -0.090119 -0.018840 0.070445 0.011233 -0.062439 -0.022872 0.049291 397 | 0.012895 0.001538 0.008666 -0.004337 -0.015103 0.016876 -0.032324 -0.028284 0.009022 -0.012605 0.000615 -0.037415 0.014420 0.004265 -0.019532 0.022244 0.021863 -0.083473 0.007511 0.058851 0.031450 -0.040010 -0.012168 0.018051 398 | 0.009878 -0.013189 -0.002893 0.018337 -0.004429 0.018560 -0.023726 -0.000676 -0.003245 -0.036619 -0.018168 -0.004958 0.037474 0.033212 -0.029730 0.002752 0.018367 -0.021047 0.019956 0.061906 0.033994 -0.009713 0.002178 -0.002604 399 | -0.036455 -0.002450 -0.017922 -0.006097 0.022282 0.049421 -0.011847 -0.011101 -0.004510 -0.004388 0.004868 0.031117 0.011638 -0.001303 -0.008047 0.039302 0.009212 0.001789 0.021092 -0.019512 -0.016745 0.011997 0.019345 0.006406 400 | 0.000423 -0.007319 -0.057292 0.016176 0.031459 0.007973 -0.009437 -0.016403 0.000322 -0.021840 -0.027543 0.040725 0.012995 0.020647 -0.022551 -0.047601 0.009484 -0.033190 0.025752 -0.014163 -0.038431 -0.002155 0.032958 -0.015735 401 | -0.032717 -0.001468 -0.026128 -0.020284 0.020055 -0.061717 -0.009130 -0.007757 -0.001532 -0.011309 -0.008803 0.034833 0.018287 0.008545 -0.015543 0.035259 -0.013646 0.010114 0.025166 -0.029561 0.005239 -0.010502 -0.011794 0.015129 402 | -0.015427 -0.008969 -0.007325 0.001209 0.003884 -0.065420 -0.014325 0.005239 0.003813 -0.021528 0.005891 0.012697 -0.008585 -0.000428 -0.006703 0.035593 -0.008463 0.035073 0.011345 0.016756 -0.004326 -0.043418 0.005114 0.014734 403 | -0.016076 0.002727 -0.004804 0.030704 0.014818 0.010395 -0.028232 0.002524 0.026332 0.003282 -0.053346 0.020559 -0.065119 0.005758 -0.005391 0.059666 -0.008954 0.058529 0.015960 0.017843 -0.028979 -0.059673 -0.002070 0.043925 404 | -0.018698 -0.009367 0.000474 0.013333 0.006238 0.041309 -0.016795 0.002286 0.001409 -0.014775 -0.007769 0.009326 -0.013965 0.003250 0.000451 0.038211 0.013024 0.027985 0.007332 0.016022 0.004588 -0.027147 0.015319 0.006226 405 | # The variances of the components (eigenvalues) of identity or combined identity and expression model 406 | 1 407 | 24 408 | 6 409 | 634.723159 232.843080 101.461353 70.892811 62.146634 61.253370 53.263370 41.886102 37.065997 30.948553 27.957356 24.039353 20.687504 19.610950 14.875372 14.281810 13.358140 11.883143 10.946700 9.934766 9.739733 7.997896 7.885247 6.790098 410 | --------------------------------------------------------------------------------