• VMWare player
• Windows VM (tested with Windows 7) with hardware 3D acceleration.
• Supported 3d camera [http://www.faceshift.com/cameras/]. Tested with Kinect for Xbox.
• Drivers for Camera
• Faceshift 2014.1

• Network access between VM and Host. Host-only mode recomended, as it uses same IP regardless of the internet configuration.
• In Faceshift: File->Prefrences->Streaming section the following has to be selcted:
  • Protocol: UDP
  • Host: IP address of the host virtual network adapater
  • Port Should be left default (33433).
• In Faceshift: Tracking Mode -> Network section-> Network streaming should be enabled.

• /faceshift_track - publishes pau2motors/pau messages based on faceshift input. To manage the servos controlled by faceshift need to modify the config of pau2motors topics in [https://github.com/hansonrobotics/robots_config]

• Start the ros_faceshift node on the host.
• Start VM
• Run Faceshift
• Start tracking mode.
• Once face detected press neutralize and orient head for default neutral face.

Currently the node is configured and tested for untrained face with limited facial features:

• Head pose tracking
• Eye Tracking
• Smile
• Jaw (open/close)
• Brows
• Blinking

Currently only works with 2014.1 version and expects default tracking features (total 51) to be streamed.