nicoros - FaceExpression

The FaceExpression class allows to manipulate the facial expression of NICO through ROS.

To start the interface run (use -h to list optional arguments):

rosrun nicoros FaceExpression.py

Exposed topics

The following ROS topics are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: /nico/faceExpression/):

ROS topic name	Message type	Short description
$PREFIX/sendFaceExpression	nicomsg/s	Sets facial expression to one of the presets. Parameters: ‘happiness’,’sadness’,’anger’,’disgust’,’surprise’,’fear’,’neutral’, or ‘clean’
$PREFIX/send_morphable_expression	nicomsg/s	Sets facial expression to one of the polynomial based presets. Parameters: ‘happiness’,’sadness’,’anger’,’disgust’,’surprise’,’fear’, or ‘neutral’
$PREFIX/morph_face_expression	msg/s	Morphs current facial expression into the given presets. The current face has to be polynomial or wavelet based. Parameters: ‘happiness’,’sadness’,’anger’,’disgust’,’surprise’,’fear’, or ‘neutral’
$PREFIX/send_polynomial_mouth	msg/polynomial_mouth	Sends parameters to create the mouth from up two n-degree polynomials. Parameters: degs1: factors for each degree of the first polynomial degs2: factors for each degree of the second polynomial x_shift: Shifts curve to the right crop_left: black border on the left of the image crop_right: black border on the right of the image
$PREFIX/send_polynomial_eyebrow	msg/polynomial_eyebrow	Sends parameters to create the mouth from an n-degree polynomial. Parameters: degs: factors for each degree of the first polynomial x_shift: Shifts curve to the right crop_left: black border on the left of the image crop_right: black border on the right of the image left: whether left or right eyebrow is generated
$PREFIX/send_polynomial_face	msg/polynomial_face	Sends combined message to create a full polynomial based face. Parameters: mouth: polynomial_mouth message (see send_polynomial_mouth) brow_left: polynomial_eyebrow message (see send_polynomial_eyebrow) brow_right: polynomial_eyebrow message (see send_polynomial_eyebrow)
$PREFIX/morph_polynomial_face	msg/polynomial_face	Morph current face into a target polynomial based face. Parameters: mouth: polynomial_mouth message (see send_polynomial_mouth) brow_left: polynomial_eyebrow message (see send_polynomial_eyebrow) brow_right: polynomial_eyebrow message (see send_polynomial_eyebrow)
$PREFIX/send_trained_expression	msg/s	Sets facial expression to one of the wavelet based presets trained by a network. Parameters: ‘happiness’,’sadness’,’anger’,’disgust’,’surprise’,’fear’, or ‘neutral’
$PREFIX/sendMouth	nicomsg/affffa	Sends up to two wavelets to create the mouth. Parameters: Array of (ystr,yoff,xstr,xoff) tuples
$PREFIX/sendEyebrow	nicomsg/sffff	Sends a wavelet to create one of the eybrows. Parameters: ‘l’ or ‘r’ stretch in y position offset in y position stretch in x position offset in x position
$PREFIX/send_wavelet_face	msg/wavelet_face	Sends combined message to create a full wavelet based face. Parameters: mouth: affffa message (see sendMouth) brow_left: sffff message (see sendEyebrow) brow_right: sffff message (see sendEyebrow)
$PREFIX/morph_wavelet_face	msg/wavelet_face	Morph current face into a target wavelet based face. Parameters: mouth: affffa message (see sendMouth) brow_left: sffff message (see sendEyebrow) brow_right: sffff message (see sendEyebrow)
$PREFIX/send_bitmap	msg/bitmap_face	Sends bitmaps to directly set the face images. Parameters: brow_left: flattened 8x8 array of 0’s (led off) and 1’s (led on) brow_right: flattened 8x8 array of 0’s (led off) and 1’s (led on) mouth: flattened 8x16 array of 0’s (led off) and 1’s (led on)

Class documentation