Version 3.0

[Tobias-Fischer]

This pull request contains several major changes:

• Use 3DDFA landmark extractor (https://github.com/cleardusk/3DDFA) as opposed to https://github.com/1adrianb/face-alignment because of the increased speed (note that we change the code so that Python 2 is still supported for use in ROS)
• Refactor the code to disentangle ROS-independent code from ROS-specific code
• Provide a standalone (non-ROS) version of the code
• Provide helper script to download all required model files (this was done using ROS catkin scripts before)
• Improve inference speed by doing inference in batches rather than per subject for landmark extraction as well as gaze estimation.
• Run ensembles in parallel, so that running the 4-model ensemble is now very fast, too.
• Tensorflow 2.0 compatibility

TODO before merging:

• [x] Update README to include the new libraries; make sure their LICENSE is included
• [x] Make sure 3DDFA works as well as the previous landmark extraction method
• [x] Run this branch on one of our wheelchairs to make sure that the changes are not breaking with the demos/research that is ongoing.
• [x] Decide whether the eye-blink work should be merged alongside this branch, or release a version with eye-blink support later (@Twarz / #35) <- This will be merged separately.

TODO after merging:

• [x] Create new release, potentially with a Docker file.
• Fixes #37
• Fixes #34

Massive thanks to @ngageorange for a lot of input.

[Tobias-Fischer]

Breaking changes:

• rename rgb_frame_id to ros_tf_frame in launch file, publisher is now in start_webcam.launch
• interpupillary_distance is now set via dynamic_reconfigure rather than in the launch file
• SequentialTracker is deprecated; to achieve a similar behavior use FaceEncodingTracker with a large face_encoding_threshold (see launch file)

[sahilrider]

Hey, What's the eye-blink work?

[Tobias-Fischer]

Hi @sahilrider, We will integrate a blink detection algorithm that we will present at the ICCV2019 gaze workshop (https://gazeworkshop.github.io/#accepted). Please check back in the following weeks for more details.

Best, Tobias