1# This message the intensity of each actions unit (AU), with their confidence, for a specific face.
2#
3# It follows the naming convention of the Facial Action Coding System (FACS) developed by Ekman.
4
5std_msgs/Header header
6
7# AU codes
8# List taken from https://en.wikipedia.org/wiki/Facial_Action_Coding_System
9
10# Main codes
11uint8 NEUTRAL_FACE=0 # Neutral face
12uint8 INNER_BROW_RAISER=1 # Inner brow raiser
13uint8 OUTER_BROW_RAISER=2 # Outer brow raiser
14uint8 BROW_LOWERER=4 # Brow lowerer
15uint8 UPPER_LID_RAISER=5 # Upper lid raiser
16uint8 CHEEK_RAISER=6 # Cheek raiser
17uint8 LID_TIGHTENER=7 # Lid tightener
18uint8 LIPS_TOWARD_EACH_OTHER=8 # Lips toward each other
19uint8 NOSE_WRINKLER=9 # Nose wrinkler
20uint8 UPPER_LIP_RAISER=10 # Upper lip raiser
21uint8 NASOLABIAL_DEEPENER=11 # Nasolabial deepener
22uint8 LIP_CORNER_PULLER=12 # Lip corner puller
23uint8 SHARP_LIP_PULLER=13 # Sharp lip puller
24uint8 DIMPLER=14 # Dimpler
25uint8 LIP_CORNER_DEPRESSOR=15 # Lip corner depressor
26uint8 LOWER_LIP_DEPRESSOR=16 # Lower lip depressor
27uint8 CHIN_RAISER=17 # Chin raiser
28uint8 LIP_PUCKER=18 # Lip pucker
29uint8 TONGUE_SHOW=19 # Tongue show
30uint8 LIP_STRETCHER=20 # Lip stretcher
31uint8 NECK_TIGHTENER=21 # Neck tightener
32uint8 LIP_FUNNELER=22 # Lip funneler
33uint8 LIP_TIGHTENER=23 # Lip tightener
34uint8 LIP_PRESSOR=24 # Lip pressor
35uint8 LIPS_PART=25 # Lips part
36uint8 JAW_DROP=26 # Jaw drop
37uint8 MOUTH_STRETCH=27 # Mouth stretch
38uint8 LIP_SUCK=28 # Lip suck
39
40# Head movement codes
41uint8 HEAD_TURN_LEFT=51 # Head turn left
42uint8 HEAD_TURN_RIGHT=52 # Head turn right
43uint8 HEAD_UP=53 # Head up
44uint8 HEAD_DOWN=54 # Head down
45uint8 HEAD_TILT_LEFT=55 # Head tilt left
46uint8 HEAD_TILT_RIGHT=56 # Head tilt right
47uint8 HEAD_FORWARD=57 # Head forward
48uint8 HEAD_BACK=58 # Head back
49
50# Eye movement codes
51uint8 EYES_TURN_LEFT=61 # Eyes turn left
52uint8 EYES_TURN_RIGHT=62 # Eyes turn right
53uint8 EYES_UP=63 # Eyes up
54uint8 EYES_DOWN=64 # Eyes down
55uint8 WALLEYE=65 # Walleye
56uint8 CROSS_EYE=66 # Cross-eye
57uint8 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.
58
59# Visibility codes
60uint8 BROWS_AND_FOREHEAD_NOT_VISIBLE=70 # Brows and forehead not visible
61uint8 EYES_NOT_VISIBLE=71 # Eyes not visible
62uint8 LOWER_FACE_NOT_VISIBLE=72 # Lower face not visible
63uint8 ENTIRE_FACE_NOT_VISIBLE=73 # Entire face not visible
64uint8 UNSOCIABLE=74 # Unsociable
65
66# Gross behavior codes
67uint8 JAW_THRUST=29 # Jaw thrust
68uint8 JAW_SIDEWAYS=30 # Jaw sideways
69uint8 JAW_CLENCHER=31 # Jaw clencher : masseter
70uint8 LIP_BITE=32 # [Lip] bite
71uint8 CHEEK_BLOW=33 # [Cheek] blow
72uint8 CHEEK_PUFF=34 # [Cheek] puff
73uint8 CHEEK_SUCK=35 # [Cheek] suck
74uint8 TONGUE_BULGE=36 # [Tongue] bulge
75uint8 LIP_WIPE=37 # Lip wipe
76uint8 NOSTRIL_DILATOR=38 # Nostril dilator : nasalis (pars alaris)
77uint8 NOSTRIL_COMPRESSOR=39 # Nostril compressor : nasalis (pars transversa) and depressor septi nasi
78uint8 SNIFF=40 # Sniff
79uint8 LID_DROOP=41 # Lid droop : Levator palpebrae superioris (relaxation)
80uint8 SLIT=42 # Slit : Orbicularis oculi muscle
81uint8 EYES_CLOSED=43 # Eyes closed : Relaxation of Levator palpebrae superioris
82uint8 SQUINT=44 # Squint : Corrugator supercilii and orbicularis oculi muscle
83uint8 BLINK=45 # Blink : Relaxation of Levator palpebrae superioris; contraction of orbicularis oculi (pars palpebralis)
84uint8 WINK=46 # Wink : orbicularis oculi
85uint8 SPEECH=50 # Speech
86uint8 SWALLOW=80 # Swallow
87uint8 CHEWING=81 # Chewing
88uint8 SHOULDER_SHRUG=82 # Shoulder shrug
89uint8 HEAD_SHAKE_BACK_AND_FORTH=84 # Head shake back and forth
90uint8 HEAD_NOD_UP_AND_DOWN=85 # Head nod up and down
91uint8 FLASH=91 # Flash
92uint8 PARTIAL_FLASH=92 # Partial flash
93uint8 SHIVER_TREMBLE=97 # Shiver/tremble
94uint8 FAST_UP_DOWN_LOOK=98 # Fast up-down look
95
96
97float32[99] intensity # array of 99 AUs intensities, one per AU, ordered per AU codes
98float32[99] confidence # array of 99 AUs intensity confidences, one per AU, ordered per AU codes
99