FaceOverlay

This is a ROS action definition.

Source

# URL of the picture/animation to overlay on the face; currently only supports
# absolute local path
string media_url

# duration, in seconds, of the overlay visibility
# - if the duration is larger than the duration of the animation, the animation
# will loop.
# - a duration of 0 means 'forever'. In this case, the action *will never
# complete* on its own. Cancelling the action will remove the overlay from the
# face.
float32 duration


###############################################
## LAYER

# display the image in the background (the eye's iris/pupil will be drawn on
# top of the overlay
uint8 BACKGROUND=0
# display the image on top of the eye (the eye's iris/pupil will be occluded by
# the image, except where transparent)
uint8 FOREGROUND=1

# one of BACKGROUND or FOREGROUND
uint8 layer

###############################################
## LAYOUT

# extend the provided image to cover both eyes.
# Note: this typically is the only sensible option for robot with a single face panel
uint8 EXTEND=0
# on robots with 2 panels (one per eye), copy the provided image onto each eye
uint8 COPY=1
#  on robots with 2 panels (one per eye), mirror the provided image onto each eyes (symmetry over the vertical axis)
uint8 MIRROR=2
# on robots with 2 panels (one per eye), only display the image on the left eye
uint8 LEFT_EYE_ONLY=3
# on robots with 2 panels (one per eye), only display the image on the right eye
uint8 RIGHT_EYE_ONLY=4

# one of the layout constant defined above
uint8 layout


# scale of the image: 1.0 (default) means full width of the face/eye (depending
# on the chosen layout); 0.1 means 10% of the width.
# Note that any value <= 0.0 is ignored (replaced by 1.0)
float32 scale

# position offset, expressed as a proportion of the face or eye's width/height. Values
# in [-1.0, 1.0] range.
#
# (0.0, 0.0) means that the image is centered with the face/eye
# (-1.0, 1.0) means that the image's center would be located in the top left
# corner of the face/eye panel.
float32 offset_x
float32 offset_y

###############################################
## EFFECTS

# if true, the overlay will fade in/fade out
bool fade

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