hri_emotion_recognizer#

hri_emotion_recognizer Quick Facts

Category

👥 Social perception

Debian package

hri_emotion_recognizer-None

License

Apache-2.0

Source code

https://github.com/ros4hri/hri_emotion_recognizer

Recognises basic emotions from detected faces.

Overview#

The hri_emotion_recognizer node is for emotion recognition using ONNX (Open Neural Network Exchange) models. It integrates within the ROS4HRI framework by analyzing the output from the hri_face_detector node to identify emotional states.

For more information about ONNX Fer Plus models, visit ONNX GitHub repository.

Preparation#

The emotion recognizer node relies on DNN models, currently supporting ONNX models, collected in the hri_emotion_models repository.

Resources#

  • dnn_models.emotion_recognition: All the available emotion models are installed under this resource. It expects the model name as saved in the hri_emotion_models/model/ folder. Note not all models may be supported at this time.

ROS API#

Topics#

Parameters#

  • model: This parameter specifies the ONNX model used for

    emotion recognition. It is a string and defaults to emotion-ferplus-8.onnx. Other ONNX models can be used, but compatibility with this node should be verified as not all models may be compatible. Models should be included in hri_emotion_models/models directory.

Launch#

ros2 launch hri_emotion_recognizer emotion_recognizer.launch.py

The emotion_recognizer.launch.py launch file accepts as arguments and configures the defined parameters. It also automatically transitions the node to the active state.

Example#

To test the package using the system default webcam:

  1. Install the usb_cam package: sudo apt install ros-humble-usb-cam

  2. Launch the usb_cam package: ros2 run usb_cam usb_cam_node_exe

  3. In a new terminal, install launch the hri_face_detect package: sudo apt install ros-humble-hri-face-detect ros2 launch hri_face_detect face_detect.launch.py rgb_camera:=<input camera namespace>

  4. In a new terminal, run the hri_emotion_recognizer package: ros2 launch hri_emotion_recognizer emotion_recognizer.launch.py

  5. Check the faces tracked and the corresponding expression ros2 topic echo /humans/faces/tracked ros2 topic echo /humans/faces/wstw/expression

In ROS’s RViz, add the Humans plugin to see the expression together with the faces detected.