Emotion Model based Face Animation
emofani was created as part of my Bachelor's Thesis Parameterized Facial Animation for Human Robot Interaction and is a simple program to render a lively animated face to enhance human-robot-interaction. emofani was formerly called ParamFace.
The displayed expression and other parameters can be controlled through interprocess communication, using the UDP protocol. The virtual face and its expressions are designed to raise the willingness of potential users to engage in interaction with a robotic system. The face displays signs of "being alive" (blinking, breathing, micro-movements) to show that it is active.
emofani's expression parameters are based on James A. Russell's circumplex model of emotion, a two-dimensional emotion model. The widely used FACS system would be richer but less intuitive to use. However, using FACS values internally would help to create more precise expressions, instead of the current expressions, that are designed by heart. This is on the TODO list.
I have created this repository to share emofani, to find collaborators to extend its features (feel free to contact me), and hopefully turn it into a useful and professional software for human-robot-interaction.
You can find a bit more information and a video here: http://steffenwittig.com/bsc-thesis
The Unity engine was used to implement emofani. All project files reside in the "emofaniUnity" folder. A simple GUI to test emofani's UDP interface was implemented in Java 1.7 and can be found in the "InterfaceGUI" folder.
emofani listens for UDP messages (default port: 11000, can be changed in the options menu) and answers with status messages on the port specified in the message.
[timestamp]: An arbitrary integer that should be incremented with every message. ParamFace will use this number to detect when a message arrives out of order (smaller number than the last package) and ignores out of order messages. This is done to prevent accidental overriding of parameters that arrive out of order (which can happen if messages are send from another machine in the network).
[source]: The IP address where ParamFace should send status messages to. The status messages will contain the current state of all parameters or error messages
[port]: The port of the source where ParamFace should send status messages to
[data]: A string in the following format
[key]: The name of the parameter for which data will follow. This can be one of the following:
[values]: An integer or string with the value for the given parameter.
If the key is
expression, the value has to be an expression label followed by a % character followed by a value between 0 and 100 specifying the intensity of the expression.
t:1424766709104;s:192.168.2.145;p:11001;d:expression=happy%77 t:1424766710790;s:192.168.2.145;p:11001;d:arousal=54 t:1424766713509;s:192.168.2.145;p:11001;d:pleasure=-25 t:1424766715566;s:192.168.2.145;p:11001;d:gazex=57 t:1424766717783;s:192.168.2.145;p:11001;d:talking=true
Note: The gaze coordinates are referring to a point in space, that is relative to the center of the character's eyes, measured in centimeters. The character's head height is 25cm high and 20cm wide. Here's a diagram:
ERROR. If there was a problem,
[error]will contain a description of the error. Otherwise the following information can be found in the status message.
[arousal]: An integer between -100 and 100, the currently set value of the
[pleasure]: An integer between -100 and 100, the currently set value of the
[gazex]: An integer between -100 and 100 (current x-axis distance in centimeters)
[gazey]: An integer between -100 and 100 (current y-axis distance in centimeters)
[gazez]: An integer between -100 and 100 (current z-axis distance in centimeters)
[talking]: 0 or 1
emofani currently features a very simple, low-poly female face design. There are some minor issues with the eyebrows and eyes, but it gets the job done. Reworking it is on my TODO list. The character's name is Stefanie, by the way.
To let you know about my plans and what is bugging me about emofani, here's my TODO list:
- save emofani's configuration in a config file to allow editing outside of emofani and storing values for the next start of emofani
- rework emofani's user interface
- implement TCP interface
- implement FACS instead of fixed expressions, designed by hand
- implement a more versatile face design, that can be parameterized to create trustworthy and sympathetic faces for users with varying cultural backgrounds (the current face design was mainly evaluated with German students)
- implement text-to-speech solution and phoneme based lip animation
excitedexpression looks wrong when
talkingis set to true
- implement measures for back-projection systems to correct the keystone effect and possibly other distortions