From left to right, top to bottom the characters and their companies are as follows: 

Cpt. Oculus, 3rd Company, red trim, leader of the Strike Force 

Cpt. Algernon, 1st Company, white trim, leader of the 1st Veteran Company 

Sergeant Saur, 5th Company, black trim 

Meridius, 2nd Company, gold trim 

Phyllionell, 1st Company, white trim 

Reithas, 2nd Company's Chaplain, gold trim