FacialActionUnits
This is a ROS message definition.
Source
# This message the intensity of each actions unit (AU), with their confidence, for a specific face.
#
# It follows the naming convention of the Facial Action Coding System (FACS) developed by Ekman.
std_msgs/Header header
# AU codes
# List taken from https://en.wikipedia.org/wiki/Facial_Action_Coding_System
# Main codes
uint8 NEUTRAL_FACE=0 # Neutral face
uint8 INNER_BROW_RAISER=1 # Inner brow raiser
uint8 OUTER_BROW_RAISER=2 # Outer brow raiser
uint8 BROW_LOWERER=4 # Brow lowerer
uint8 UPPER_LID_RAISER=5 # Upper lid raiser
uint8 CHEEK_RAISER=6 # Cheek raiser
uint8 LID_TIGHTENER=7 # Lid tightener
uint8 LIPS_TOWARD_EACH_OTHER=8 # Lips toward each other
uint8 NOSE_WRINKLER=9 # Nose wrinkler
uint8 UPPER_LIP_RAISER=10 # Upper lip raiser
uint8 NASOLABIAL_DEEPENER=11 # Nasolabial deepener
uint8 LIP_CORNER_PULLER=12 # Lip corner puller
uint8 SHARP_LIP_PULLER=13 # Sharp lip puller
uint8 DIMPLER=14 # Dimpler
uint8 LIP_CORNER_DEPRESSOR=15 # Lip corner depressor
uint8 LOWER_LIP_DEPRESSOR=16 # Lower lip depressor
uint8 CHIN_RAISER=17 # Chin raiser
uint8 LIP_PUCKER=18 # Lip pucker
uint8 TONGUE_SHOW=19 # Tongue show
uint8 LIP_STRETCHER=20 # Lip stretcher
uint8 NECK_TIGHTENER=21 # Neck tightener
uint8 LIP_FUNNELER=22 # Lip funneler
uint8 LIP_TIGHTENER=23 # Lip tightener
uint8 LIP_PRESSOR=24 # Lip pressor
uint8 LIPS_PART=25 # Lips part
uint8 JAW_DROP=26 # Jaw drop
uint8 MOUTH_STRETCH=27 # Mouth stretch
uint8 LIP_SUCK=28 # Lip suck
# Head movement codes
uint8 HEAD_TURN_LEFT=51 # Head turn left
uint8 HEAD_TURN_RIGHT=52 # Head turn right
uint8 HEAD_UP=53 # Head up
uint8 HEAD_DOWN=54 # Head down
uint8 HEAD_TILT_LEFT=55 # Head tilt left
uint8 HEAD_TILT_RIGHT=56 # Head tilt right
uint8 HEAD_FORWARD=57 # Head forward
uint8 HEAD_BACK=58 # Head back
# Eye movement codes
uint8 EYES_TURN_LEFT=61 # Eyes turn left
uint8 EYES_TURN_RIGHT=62 # Eyes turn right
uint8 EYES_UP=63 # Eyes up
uint8 EYES_DOWN=64 # Eyes down
uint8 WALLEYE=65 # Walleye
uint8 CROSS_EYE=66 # Cross-eye
uint8 EYES_POSITIONED_TO_LOOK_AT_OTHER_PERSON=69 # Eyes positioned to look at other person : The 4, 5, or 7, alone or in combination, occurs while the eye position is fixed on the other person in the conversation.
# Visibility codes
uint8 BROWS_AND_FOREHEAD_NOT_VISIBLE=70 # Brows and forehead not visible
uint8 EYES_NOT_VISIBLE=71 # Eyes not visible
uint8 LOWER_FACE_NOT_VISIBLE=72 # Lower face not visible
uint8 ENTIRE_FACE_NOT_VISIBLE=73 # Entire face not visible
uint8 UNSOCIABLE=74 # Unsociable
# Gross behavior codes
uint8 JAW_THRUST=29 # Jaw thrust
uint8 JAW_SIDEWAYS=30 # Jaw sideways
uint8 JAW_CLENCHER=31 # Jaw clencher : masseter
uint8 LIP_BITE=32 # [Lip] bite
uint8 CHEEK_BLOW=33 # [Cheek] blow
uint8 CHEEK_PUFF=34 # [Cheek] puff
uint8 CHEEK_SUCK=35 # [Cheek] suck
uint8 TONGUE_BULGE=36 # [Tongue] bulge
uint8 LIP_WIPE=37 # Lip wipe
uint8 NOSTRIL_DILATOR=38 # Nostril dilator : nasalis (pars alaris)
uint8 NOSTRIL_COMPRESSOR=39 # Nostril compressor : nasalis (pars transversa) and depressor septi nasi
uint8 SNIFF=40 # Sniff
uint8 LID_DROOP=41 # Lid droop : Levator palpebrae superioris (relaxation)
uint8 SLIT=42 # Slit : Orbicularis oculi muscle
uint8 EYES_CLOSED=43 # Eyes closed : Relaxation of Levator palpebrae superioris
uint8 SQUINT=44 # Squint : Corrugator supercilii and orbicularis oculi muscle
uint8 BLINK=45 # Blink : Relaxation of Levator palpebrae superioris; contraction of orbicularis oculi (pars palpebralis)
uint8 WINK=46 # Wink : orbicularis oculi
uint8 SPEECH=50 # Speech
uint8 SWALLOW=80 # Swallow
uint8 CHEWING=81 # Chewing
uint8 SHOULDER_SHRUG=82 # Shoulder shrug
uint8 HEAD_SHAKE_BACK_AND_FORTH=84 # Head shake back and forth
uint8 HEAD_NOD_UP_AND_DOWN=85 # Head nod up and down
uint8 FLASH=91 # Flash
uint8 PARTIAL_FLASH=92 # Partial flash
uint8 SHIVER_TREMBLE=97 # Shiver/tremble
uint8 FAST_UP_DOWN_LOOK=98 # Fast up-down look
float32[99] intensity # array of 99 AUs intensities, one per AU, ordered per AU codes
float32[99] confidence # array of 99 AUs intensity confidences, one per AU, ordered per AU codes