ALSoundLocalization API

On this page

NAOqi Audio - Overview | API


Namespace : AL


           
            #include <alproxies/alsoundlocalizationproxy.h>

           
          

Method list

As any module, this module inherits methods from ALModule API . It also has the following specific methods:

class ALSoundLocalizationProxy

Methods

void ALSoundLocalizationProxy:: setParameter ( const std::string& parameter , const AL::ALValue& value )

Sets parameters.

Parameters:
  • parameter – Name of the parameter
  • value – Value of the parameter

Available parameters:

  • “EnergyComputation” to True or False (default: False). When set to True, the peak energy of the located sound is estimated. The ALMemory key “ALSoundLocalization/SoundLocated” where the result of the computation is updated is modified consequently:

              
               [ [time(sec), time(usec)],

  [azimuth(rad), elevation(rad), confidence, energy],

  [Head Position[6D]] in FRAME_TORSO
  [Head Position[6D]] in FRAME_ROBOT
]

              
             
  • “Sensibility”: DEPRECATED, use “Sensitivity” instead.
  • “Sensitivity” between 0 and 1 to adjust the minimal sound level to trigger the localization. This parameter is the same as in the ALSoundDetection module.
void ALSoundLocalizationProxy:: subscribe ( const std::string& name )

Subscribes to ALSoundLocalization . This causes the module to start raising the “ALSoundLocalization/SoundLocated” ALMemory event which you can subscribe to by using ALMemoryProxy::subscribeToMicroEvent .

Parameters:
  • name – Name used to identify the subscriber
void ALSoundLocalizationProxy:: unsubscribe ( const std::string& name )

Unsubscribes to ALSoundLocalization . This causes the module to stop raising the “ALSoundLocalization/SoundLocated” ALMemory event.

Parameters:

Events

Event: "ALSoundLocalization/SoundLocated"
callback ( std::string eventName , AL::ALValue value , std::string subscriberIdentifier )

Raised when a sound source has been localized.

Parameters:
  • eventName ( std::string ) – “ALSoundLocalization/SoundLocated”
  • value – Array containing information about the localized sounds. Please refer to ALSoundLocalization for details.
  • subscriberIdentifier ( std::string ) –
Event: "ALSoundLocalization/SoundsLocated"
callback ( std::string eventName , AL::ALValue value , std::string subscriberIdentifier )

Raised every 170ms if one or several sounds have been localized during that timeframe.

Parameters:
  • eventName ( std::string ) – “ALSoundLocalization/SoundsLocated”
  • value – Array containing information about the localized sounds. Please refer to ALSoundLocalization for details.
  • subscriberIdentifier ( std::string ) –