def map_pau(selfself, trackMsg):
# Final Message to be sent. Currently only m_coeffs has to be remapped
msg = pau()
#eyes and head remains same.
msg.m_headRotation = copy.deepcopy(trackMsg.m_headRotation)
# Correction
msg.m_headRotation.y = trackMsg.m_headRotation.x
msg.m_headRotation.z = -trackMsg.m_headRotation.y
msg.m_headRotation.x = -trackMsg.m_headRotation.z
msg.m_eyeGazeLeftPitch = math.radians(trackMsg.m_eyeGazeLeftPitch)
msg.m_eyeGazeLeftYaw = math.radians(trackMsg.m_eyeGazeLeftYaw)
msg.m_eyeGazeRightYaw = math.radians(trackMsg.m_eyeGazeRightYaw)
msg.m_eyeGazeRightPitch = math.radians(trackMsg.m_eyeGazeRightPitch)
# Empty m_coeffs
msg.m_coeffs = [0] * ShapekeyStore.getLength()
# Map by shapekeys
fs = trackMsg.m_coeffs
for i, sk in enumerate(ShapekeyStore.getList()):
if sk in blend_shape_names:
msg.m_coeffs[i] = fs[blend_shape_names.index(sk)]
# Outer brows are same as inner
msg.m_coeffs[5] = msg.m_coeffs[3]
msg.m_coeffs[6] = msg.m_coeffs[4]
msg.m_coeffs[10] = msg.m_coeffs[8]
msg.m_coeffs[11] = msg.m_coeffs[9]
return msg
def map_pau(selfself, trackMsg):
# Final Message to be sent. Currently only m_coeffs has to be remapped
msg = pau()
#eyes and head remains same.
msg.m_headRotation = copy.deepcopy(trackMsg.m_headRotation)
# Correction
msg.m_headRotation.y = trackMsg.m_headRotation.x
msg.m_headRotation.z = -trackMsg.m_headRotation.y
msg.m_headRotation.x = -trackMsg.m_headRotation.z
msg.m_eyeGazeLeftPitch = math.radians(trackMsg.m_eyeGazeLeftPitch)
msg.m_eyeGazeLeftYaw = math.radians(trackMsg.m_eyeGazeLeftYaw)
msg.m_eyeGazeRightYaw = math.radians(trackMsg.m_eyeGazeRightYaw)
msg.m_eyeGazeRightPitch = math.radians(trackMsg.m_eyeGazeRightPitch)
# Empty m_coeffs
msg.m_coeffs = [0]*ShapekeyStore.getLength()
# Map by shapekeys
fs = trackMsg.m_coeffs
for i,sk in enumerate(ShapekeyStore.getList()):
if sk in blend_shape_names:
msg.m_coeffs[i] = fs[blend_shape_names.index(sk)]
# Outer brows are same as inner
msg.m_coeffs[5] = msg.m_coeffs[3]
msg.m_coeffs[6] = msg.m_coeffs[4]
msg.m_coeffs[10] = msg.m_coeffs[8]
msg.m_coeffs[11] = msg.m_coeffs[9]
return msg
def __init__(self, args):
self.keychains = map(
lambda shapekey: Utils.DictKeyChain([
"m_coeffs",
ShapekeyStore.getIndex(shapekey)
]),
args["shapekey"].split(";")
)
def handle_source(self, msg):
if not self.confentry["enabled"]:
return
# Apply shapekeys
meshname = self.confentry["binding"]["meshname"]
for i in range(len(msg.m_coeffs)):
shapename = ShapekeyStore.getString(i)
bpy.data.meshes[meshname].shape_keys.key_blocks[shapename].value = msg.m_coeffs[i]
# Process single binds
for processor in self.singlebind_processors:
processor(msg)
def handle_source(self, msg):
if not self.confentry["enabled"]:
return
# Apply shapekeys
meshname = self.confentry["binding"]["meshname"]
for i in range(len(msg.m_coeffs)):
shapename = ShapekeyStore.getString(i)
bpy.data.meshes[meshname].shape_keys.key_blocks[
shapename].value = msg.m_coeffs[i]
# Process single binds
for processor in self.singlebind_processors:
processor(msg)
def _build_msg(cls, expr_entry=None):
"""
Takes an entry from the config file and returns a constructed ROS message.
"""
msg = fsMsgTrackingState()
msg.m_coeffs = [0]*cls.M_COEFFS_LEN
# Allow creation of a neutral face without an expression yaml entry.
if expr_entry == None:
return msg
for shapekey in expr_entry:
index = ShapekeyStore.getIndex(shapekey)
if (index == None):
rospy.logwarn("Invalid shapekey in expression data: %s", shapekey)
else:
msg.m_coeffs[index] = expr_entry[shapekey]
return msg
def hit(self, rms):
"""
Publishes the current jaw-modified expression, given rms (root mean squared),
the volume or the power of a small segment in the file.
"""
# Map the power number to the jaw coefficient.
# Note that coefficient can't effectively go below 0 or over 1.
# It will be cut to this range at the receiving end (pau2motors node)
p = self.rms_params
jaw_coeff = min(max(math.sqrt(rms * p["scale"]), p["min"]), p["max"])
# Copy pau expression message stored during handle_face_in(),
# modify jaw and publish.
cmd = copy.deepcopy(self.facepau)
coeffs = list(cmd.m_coeffs)
coeffs[ShapekeyStore.getIndex("JawOpen")] = jaw_coeff
cmd.m_coeffs = coeffs
self.pub.publish(cmd)
def __init__(self, args):
self.keychains = map(
lambda shapekey: Utils.DictKeyChain(
["m_coeffs", ShapekeyStore.getIndex(shapekey)]),
args["shapekey"].split(";"))
