1# This message contains a list of facial features detected on a face
2# (0, 0) is at top-left corner of image
3# Features' coordinates are expressed in normalised pixel coordinates
4# (in the range [0., 1.]), from the top-left corner.
5std_msgs/Header header
6
7# Facial landmarks codes
8# Follows dlib and OpenPose convention
9# https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/02_output.md#face-output-format
10uint8 RIGHT_EAR=0
11uint8 RIGHT_PROFILE_1=1
12uint8 RIGHT_PROFILE_2=2
13uint8 RIGHT_PROFILE_3=3
14uint8 RIGHT_PROFILE_4=4
15uint8 RIGHT_PROFILE_5=5
16uint8 RIGHT_PROFILE_6=6
17uint8 RIGHT_PROFILE_7=7
18
19uint8 MENTON=8
20
21uint8 LEFT_EAR=16
22uint8 LEFT_PROFILE_1=15
23uint8 LEFT_PROFILE_2=14
24uint8 LEFT_PROFILE_3=13
25uint8 LEFT_PROFILE_4=12
26uint8 LEFT_PROFILE_5=11
27uint8 LEFT_PROFILE_6=10
28uint8 LEFT_PROFILE_7=9
29
30uint8 RIGHT_EYEBROW_OUTSIDE=17
31uint8 RIGHT_EYEBROW_1=18
32uint8 RIGHT_EYEBROW_2=19
33uint8 RIGHT_EYEBROW_3=20
34uint8 RIGHT_EYEBROW_INSIDE=21
35
36uint8 RIGHT_EYE_OUTSIDE=36
37uint8 RIGHT_EYE_TOP_1=37
38uint8 RIGHT_EYE_TOP_2=38
39uint8 RIGHT_EYE_INSIDE=39
40uint8 RIGHT_EYE_BOTTOM_1=41
41uint8 RIGHT_EYE_BOTTOM_2=40
42
43uint8 RIGHT_PUPIL=68
44
45uint8 LEFT_EYEBROW_OUTSIDE=26
46uint8 LEFT_EYEBROW_1=25
47uint8 LEFT_EYEBROW_2=24
48uint8 LEFT_EYEBROW_3=23
49uint8 LEFT_EYEBROW_INSIDE=22
50
51uint8 LEFT_EYE_OUTSIDE=45
52uint8 LEFT_EYE_TOP_1=44
53uint8 LEFT_EYE_TOP_2=43
54uint8 LEFT_EYE_INSIDE=42
55uint8 LEFT_EYE_BOTTOM_1=46
56uint8 LEFT_EYE_BOTTOM_2=47
57
58uint8 LEFT_PUPIL=69
59
60uint8 SELLION=27
61uint8 NOSE_1=28
62uint8 NOSE_2=29
63uint8 NOSE=30
64
65uint8 NOSTRIL_1=31
66uint8 NOSTRIL_2=32
67uint8 NOSTRIL_3=33
68uint8 NOSTRIL_4=34
69uint8 NOSTRIL_5=35
70
71uint8 MOUTH_OUTER_RIGHT=48
72uint8 MOUTH_OUTER_TOP_1=49
73uint8 MOUTH_OUTER_TOP_2=50
74uint8 MOUTH_OUTER_TOP_3=51
75uint8 MOUTH_OUTER_TOP_4=52
76uint8 MOUTH_OUTER_TOP_5=53
77uint8 MOUTH_OUTER_LEFT=54
78uint8 MOUTH_OUTER_BOTTOM_1=59
79uint8 MOUTH_OUTER_BOTTOM_2=58
80uint8 MOUTH_OUTER_BOTTOM_3=57
81uint8 MOUTH_OUTER_BOTTOM_4=56
82uint8 MOUTH_OUTER_BOTTOM_5=55
83
84uint8 MOUTH_INNER_RIGHT=60
85uint8 MOUTH_INNER_TOP_1=61
86uint8 MOUTH_INNER_TOP_2=62
87uint8 MOUTH_INNER_TOP_3=63
88uint8 MOUTH_INNER_LEFT=64
89uint8 MOUTH_INNER_BOTTOM_1=67
90uint8 MOUTH_INNER_BOTTOM_2=66
91uint8 MOUTH_INNER_BOTTOM_3=65
92
93# array of 70 landmark normalized coordinates, one per landmark, ordered per landmarks codes
94NormalizedPointOfInterest2D[70] landmarks
95
96uint32 height # image height in pixels, that is, number of rows
97uint32 width # image width in pixels, that is, number of columns