What it does¶
ALGazeAnalysis allows you to analyze the direction of the gaze of a detected person, in order to know if he/she is looking at the robot. It also detects whether the person’s eyes are open or close.
How it works¶
By detecting the face of a person and studying its orientation, it is possible to detect whether or not this person is looking at the robot.
First a scoring value, called LookingAtRobotScore, is computed for each person in the detected population.
This score, between 0 and 1, describes the confidence in the fact that the person is looking at the robot. It is
stored in the memory key
Then this score is compared to a threshold value:
- if the score is greater than the threshold value, the person is characterized as looking at the robot.
- if the score is smaller than the threshold value, the person is characterized as not looking at the robot.
It is possible to change the threshold value by changing the Tolerance of the gaze analysis, using
ALGazeAnalysisProxy::setTolerance (Threshold = 1-Tolerance). The current
value of the Tolerance can be retrieved with function
This result is added to the description of the people in the ALMemory
by filling the key
The raw head angles are also available through the key
The gaze direction relative to the face plane are available through
The “opening degree” of both eyes is given by