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‎.gitignore‎

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cuboid_detection/bags/*
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openface2_ros/rosbags/*
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.vscode/
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‎openface2_ros/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(openface2_ros)
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find_package(catkin REQUIRED COMPONENTS
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message_generation
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message_runtime
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image_transport
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cv_bridge
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std_msgs
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geometry_msgs
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sensor_msgs
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roscpp
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tf2
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tf2_ros
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)
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find_package(Boost 1.5.9 REQUIRED COMPONENTS filesystem system)
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find_package(OpenCV 3 REQUIRED)
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find_library(OPENFACE_LD_LIB LandmarkDetector)
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find_library(OPENFACE_FA_LIB FaceAnalyser)
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find_library(OPENFACE_GA_LIB GazeAnalyser)
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find_library(OPENFACE_UT_LIB Utilities)
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set(OPENFACE_LIBS ${OPENFACE_LD_LIB} ${OPENFACE_FA_LIB} ${OPENFACE_GA_LIB} ${OPENFACE_UT_LIB})
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find_path(OPENFACE_INCLUDE_DIR LandmarkDetectorModel.h PATH_SUFFIXES OpenFace)
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add_message_files(
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FILES
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ActionUnit.msg
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Face.msg
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Faces.msg
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)
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generate_messages(DEPENDENCIES std_msgs geometry_msgs)
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add_definitions(-std=c++11)
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add_definitions(-g -pg)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${OPENFACE_INCLUDE_DIR}
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${OpenBLAS_INCLUDE_DIR}
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${Boost_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}/boost
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${OpenCV_INCLUDE_DIRS}
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)
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add_executable(openface2_ros src/openface2_ros.cpp)
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add_dependencies(openface2_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(openface2_ros openface2_ros_generate_messages_cpp)
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add_executable(openface2_ros_single src/openface2_ros_single.cpp)
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add_dependencies(openface2_ros_single ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(openface2_ros_single openface2_ros_generate_messages_cpp)
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target_link_libraries(openface2_ros
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${catkin_LIBRARIES}
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${OPENFACE_LIBS}
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openblas
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dlib
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${Boost_LIBRARIES}
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${OpenCV_LIBRARIES}
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)
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install(TARGETS openface2_ros
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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target_link_libraries(openface2_ros_single
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${catkin_LIBRARIES}
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${OPENFACE_LIBS}
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openblas
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dlib
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${Boost_LIBRARIES}
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${OpenCV_LIBRARIES}
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)
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install(TARGETS openface2_ros_single
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)

‎openface2_ros/LICENSE‎

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Copyright (c) 2016, Braden McDorman.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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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.
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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.
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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.

‎openface2_ros/README.md‎

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# ROS Wrapper for Openface 2.1.0
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This is a ROS wrapper for OpenFace 2.1.0. In particular, given an image of a face, it will output:
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* Eye Gaze Vectors
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* Head Pose
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* 2D Landmarks
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* 3D Landmarks
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* Action Units
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* Debug Visualization (optional)
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## ROS Parameters
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### Required
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* `~image_topic` - The topic the image is provided on (e.g. `/usb_cam/image_raw`).
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### Optional
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* `~publish_viz` - Set to `true` to publish a debug visualization (default: `false`).
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## Installation
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* Clone the OpenFace project release 2.1.0 : `git clone https://github.com/TadasBaltrusaitis/OpenFace/tree/OpenFace_2.1.0`
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* Download model : [Model download · TadasBaltrusaitis/OpenFace Wiki · GitHub](https://github.com/TadasBaltrusaitis/OpenFace/wiki/Model-download)
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* Install OpenFace, following this instruction : [Unix Installation · TadasBaltrusaitis/OpenFace Wiki · GitHub](https://github.com/TadasBaltrusaitis/OpenFace/wiki/Unix-Installation) (don't forget to sudo make install at the end)
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* Download [openface2_ros](https://github.com/ditoec/openface_ros) to your catkin src folder and `cd .. && catkin make`
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* Clone [`usb_cam` ros node](http://wiki.ros.org/usb_cam) or other ros node of your choice for interfacing with USB camera
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### Running
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* `roscore`
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* `rosrun usb_cam usb_cam_node`
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* `roslaunch openface2_ros openface2_ros.launch`
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### Notes
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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`.
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### Issues
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If running `openface2_ros` results in a segfault or you see the following lines when running `catkin_make`:
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/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
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/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
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/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
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then openface2 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.
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## Published Topics
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* `/openface2/faces` ( `openface2_ros/faces` )
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* `/openface2/image` ( `sensor_msgs/Image` )
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## Messages
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### Faces
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```
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std_msgs/Header header
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openface_ros/Face[] faces
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uint32 count```
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```
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### FaceFeatures
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```
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geometry_msgs/Vector3 left_gaze
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geometry_msgs/Vector3 right_gaze
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geometry_msgs/Vector3 gaze_angle
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geometry_msgs/Pose head_pose
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geometry_msgs/Point[] landmarks_3d
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geometry_msgs/Point[] landmarks_2d
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openface_ros/ActionUnit[] action_units
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```
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### ActionUnit
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```
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string name
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float64 presence
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float64 intensity
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```
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## Changelog
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* Accommodate major changes in openface 2.0.6 (functions and classes naming & grouping)
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* Add eye gaze angle in the Face message type
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* Add Faces message type (an array of Face message type) in order to accommodate the new multiple face detection in openface 2.0

‎openface2_ros/launch/openface2_ros.launch‎

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<launch>
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<include file="$(find realsense2_camera)/launch/rs_camera.launch"/>
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<arg name="image_topic" default="/camera/color/image_raw" />
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<arg name="publish_viz" default="true" />
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<node pkg="openface2_ros" name="openface2_ros" type="openface2_ros" output="screen">
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<param name="image_topic" value="$(arg image_topic)" type="str"/>
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<param name="publish_viz" value="$(arg publish_viz)" type="bool"/>
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</node>
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</launch>

‎openface2_ros/msg/ActionUnit.msg‎

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string name
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float64 presence
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float64 intensity

‎openface2_ros/msg/Face.msg‎

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std_msgs/Header header
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geometry_msgs/Pose left_gaze
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geometry_msgs/Pose right_gaze
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geometry_msgs/Vector3 gaze_angle
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geometry_msgs/Pose head_pose
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geometry_msgs/Point[] landmarks_3d
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geometry_msgs/Point[] landmarks_2d
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openface2_ros/ActionUnit[] action_units

‎openface2_ros/msg/Faces.msg‎

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std_msgs/Header header
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openface2_ros/Face[] faces
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uint32 count

‎openface2_ros/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>openface2_ros</name>
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<version>1.0.0</version>
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<description>The openface2_ros package</description>
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<maintainer email="[email protected]">Dito Cahya</maintainer>
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<license>Apache 2</license>
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<author email="[email protected]">Dito Cahya</author>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>image_transport</build_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>message_generation</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>tf2</build_depend>
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<build_depend>tf2_ros</build_depend>
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<run_depend>message_runtime</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>image_transport</run_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>tf2</run_depend>
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<run_depend>tf2_ros</run_depend>
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<export>
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</export>
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</package>

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