com.aldebaran.qi.helper.proxies

Class ALPeoplePerception

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALPeoplePerception

public class ALPeoplePerception
extends ALProxy

This module controls the People Perception flow and pushes information about detected people in ALMemory.

See Also:

NAOqi APIs for ALPeoplePerception

Field Summary

Fields inherited from class com.aldebaran.qi.helper.ALProxy

name, service

Constructor Summary

Constructors

Constructor and Description
ALPeoplePerception(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
void	exit() Exits and unregisters the module.
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.Integer	getCurrentPeriod() Gets the current period.
java.lang.Float	getCurrentPrecision() Gets the current precision.
java.util.List<java.lang.String>	getEventList() Get the list of events updated in ALMemory.
java.lang.Float	getMaximumBodyHeight() Gets the current maximum body height used for human detection (3D mode only).
java.lang.Float	getMaximumDetectionRange() Gets the current maximum detection and tracking range.
java.util.List<java.lang.String>	getMemoryKeyList() Get the list of events updated in ALMemory.
java.lang.Object	getMethodHelp(java.lang.String methodName) Retrieves a method's description.
java.util.List<java.lang.String>	getMethodList() Retrieves the module's method list.
java.lang.Float	getMinimumBodyHeight() Gets the current minimum body height used for human detection (3D mode only).
java.lang.Object	getModuleHelp() Retrieves the module's description.
java.lang.Integer	getMyPeriod(java.lang.String name) Gets the period for a specific subscription.
java.lang.Float	getMyPrecision(java.lang.String name) Gets the precision for a specific subscription.
java.util.List<java.lang.String>	getOutputNames() Get the list of values updated in ALMemory.
java.lang.Object	getSubscribersInfo() Gets the parameters given by the module.
java.lang.Float	getTimeBeforePersonDisappears() Gets the time after which a person, supposed not to be in the field of view of the camera disappears if it has not been detected.
java.lang.Float	getTimeBeforeVisiblePersonDisappears() Gets the time after which a person, supposed to be in the field of view of the camera disappears if it has not been detected.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	isFaceDetectionEnabled() Gets the current status of face detection.
java.lang.Boolean	isFastModeEnabled() Gets the current status of fast mode.
java.lang.Boolean	isGraphicalDisplayEnabled() Gets the current status of graphical display in Choregraphe.
java.lang.Boolean	isMovementDetectionEnabled() Gets the current status of movement detection in Choregraphe.
java.lang.Boolean	isPaused() Gets extractor pause status
java.lang.Boolean	isProcessing() Gets extractor running status
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
void	pause(java.lang.Boolean status) Changes the pause status of the extractor
java.lang.Boolean	ping() Just a ping.
void	resetPopulation() Empties the tracked population.
void	setFaceDetectionEnabled(java.lang.Boolean enable) Turns face detection on or off.
void	setFastModeEnabled(java.lang.Boolean enable) Turns fast mode on or off.
void	setGraphicalDisplayEnabled(java.lang.Boolean enable) Turns graphical display in Choregraphe on or off.
void	setMaximumBodyHeight(java.lang.Float height) Sets the maximum human body height (3D mode only).
void	setMaximumDetectionRange(java.lang.Float range) Sets the maximum range for human detection and tracking.
void	setMinimumBodyHeight(java.lang.Float height) Sets the minimum human body height (3D mode only).
void	setMovementDetectionEnabled(java.lang.Boolean enable) Turns movement detection on or off.
void	setTimeBeforePersonDisappears(java.lang.Float seconds) Sets the time after which a person, supposed not to be in the field of view of the camera disappears if it has not been detected.
void	setTimeBeforeVisiblePersonDisappears(java.lang.Float seconds) Sets the time after which a person, supposed to be in the field of view of the camera disappears if it has not been detected.
void	stop(java.lang.Integer id) returns true if the method is currently running
void	subscribe(java.lang.String name) Subscribes to the extractor.
void	subscribe(java.lang.String name, java.lang.Integer period, java.lang.Float precision) Subscribes to the extractor.
void	unsubscribe(java.lang.String name) Unsubscribes from the extractor.
void	updatePeriod(java.lang.String name, java.lang.Integer period) Updates the period if relevant.
void	updatePrecision(java.lang.String name, java.lang.Float precision) Updates the precision if relevant.
java.lang.String	version() Returns the version of the module.
java.lang.Boolean	wait(java.lang.Integer id, java.lang.Integer timeoutPeriod) Wait for the end of a long running method that was called using 'post'

Methods inherited from class com.aldebaran.qi.helper.ALProxy

call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ALPeoplePerception

public ALPeoplePerception(Session session)
                   throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

getTimeBeforePersonDisappears

public java.lang.Float getTimeBeforePersonDisappears()
                                              throws CallError,
                                                     java.lang.InterruptedException

Gets the time after which a person, supposed not to be in the field of view of the camera disappears if it has not been detected.

Returns:

Time in seconds.

Throws:

CallError

java.lang.InterruptedException

isMovementDetectionEnabled

public java.lang.Boolean isMovementDetectionEnabled()
                                             throws CallError,
                                                    java.lang.InterruptedException

Gets the current status of movement detection in Choregraphe.

Returns:

True if movement detection is enabled, False otherwise.

Throws:

CallError

java.lang.InterruptedException

isProcessing

public java.lang.Boolean isProcessing()
                               throws CallError,
                                      java.lang.InterruptedException

Gets extractor running status

Returns:

True if the extractor is currently processing images, False if not

Throws:

CallError

java.lang.InterruptedException

setFastModeEnabled

public void setFastModeEnabled(java.lang.Boolean enable)
                        throws CallError,
                               java.lang.InterruptedException

Turns fast mode on or off.

Parameters:

enable - True to turn it on, False to turn it off.

Throws:

CallError

java.lang.InterruptedException

setGraphicalDisplayEnabled

public void setGraphicalDisplayEnabled(java.lang.Boolean enable)
                                throws CallError,
                                       java.lang.InterruptedException

Turns graphical display in Choregraphe on or off.

Parameters:

enable - True to turn it on, False to turn it off.

Throws:

CallError

java.lang.InterruptedException

getMinimumBodyHeight

public java.lang.Float getMinimumBodyHeight()
                                     throws CallError,
                                            java.lang.InterruptedException

Gets the current minimum body height used for human detection (3D mode only).

Returns:

Minimum height in meters.

Throws:

CallError

java.lang.InterruptedException

setMinimumBodyHeight

public void setMinimumBodyHeight(java.lang.Float height)
                          throws CallError,
                                 java.lang.InterruptedException

Sets the minimum human body height (3D mode only).

Parameters:

height - Minimum height in meters.

Throws:

CallError

java.lang.InterruptedException

setMaximumBodyHeight

public void setMaximumBodyHeight(java.lang.Float height)
                          throws CallError,
                                 java.lang.InterruptedException

Sets the maximum human body height (3D mode only).

Parameters:

height - Maximum height in meters.

Throws:

CallError

java.lang.InterruptedException

setMovementDetectionEnabled

public void setMovementDetectionEnabled(java.lang.Boolean enable)
                                 throws CallError,
                                        java.lang.InterruptedException

Turns movement detection on or off.

Parameters:

enable - True to turn it on, False to turn it off.

Throws:

CallError

java.lang.InterruptedException

setTimeBeforePersonDisappears

public void setTimeBeforePersonDisappears(java.lang.Float seconds)
                                   throws CallError,
                                          java.lang.InterruptedException

Sets the time after which a person, supposed not to be in the field of view of the camera disappears if it has not been detected.

Parameters:

seconds - Time in seconds.

Throws:

CallError

java.lang.InterruptedException

setTimeBeforeVisiblePersonDisappears

public void setTimeBeforeVisiblePersonDisappears(java.lang.Float seconds)
                                          throws CallError,
                                                 java.lang.InterruptedException

Sets the time after which a person, supposed to be in the field of view of the camera disappears if it has not been detected.

Parameters:

seconds - Time in seconds.

Throws:

CallError

java.lang.InterruptedException

getMaximumBodyHeight

public java.lang.Float getMaximumBodyHeight()
                                     throws CallError,
                                            java.lang.InterruptedException

Gets the current maximum body height used for human detection (3D mode only).

Returns:

Maximum height in meters.

Throws:

CallError

java.lang.InterruptedException

getTimeBeforeVisiblePersonDisappears

public java.lang.Float getTimeBeforeVisiblePersonDisappears()
                                                     throws CallError,
                                                            java.lang.InterruptedException

Gets the time after which a person, supposed to be in the field of view of the camera disappears if it has not been detected.

Returns:

Time in seconds.

Throws:

CallError

java.lang.InterruptedException

setFaceDetectionEnabled

public void setFaceDetectionEnabled(java.lang.Boolean enable)
                             throws CallError,
                                    java.lang.InterruptedException

Turns face detection on or off.

Parameters:

enable - True to turn it on, False to turn it off.

Throws:

CallError

java.lang.InterruptedException

isFaceDetectionEnabled

public java.lang.Boolean isFaceDetectionEnabled()
                                         throws CallError,
                                                java.lang.InterruptedException

Gets the current status of face detection.

Returns:

True if face detection is enabled, False otherwise.

Throws:

CallError

java.lang.InterruptedException

getMaximumDetectionRange

public java.lang.Float getMaximumDetectionRange()
                                         throws CallError,
                                                java.lang.InterruptedException

Gets the current maximum detection and tracking range.

Returns:

Maximum range in meters.

Throws:

CallError

java.lang.InterruptedException

isFastModeEnabled

public java.lang.Boolean isFastModeEnabled()
                                    throws CallError,
                                           java.lang.InterruptedException

Gets the current status of fast mode.

Returns:

True if fast mode is enabled, False otherwise.

Throws:

CallError

java.lang.InterruptedException

isGraphicalDisplayEnabled

public java.lang.Boolean isGraphicalDisplayEnabled()
                                            throws CallError,
                                                   java.lang.InterruptedException

Gets the current status of graphical display in Choregraphe.

Returns:

True if graphical display is enabled, False otherwise.

Throws:

CallError

java.lang.InterruptedException

resetPopulation

public void resetPopulation()
                     throws CallError,
                            java.lang.InterruptedException

Empties the tracked population.

Throws:

CallError

java.lang.InterruptedException

setMaximumDetectionRange

public void setMaximumDetectionRange(java.lang.Float range)
                              throws CallError,
                                     java.lang.InterruptedException

Sets the maximum range for human detection and tracking.

Parameters:

range - Maximum range in meters.

Throws:

CallError

java.lang.InterruptedException

isStatsEnabled

public java.lang.Boolean isStatsEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

clearStats

public void clearStats()
                throws CallError,
                       java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

isTraceEnabled

public java.lang.Boolean isTraceEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

exit

public void exit()
          throws CallError,
                 java.lang.InterruptedException

Exits and unregisters the module.

Throws:

CallError

java.lang.InterruptedException

version

public java.lang.String version()
                         throws CallError,
                                java.lang.InterruptedException

Returns the version of the module.

Returns:

A string containing the version of the module.

Throws:

CallError

java.lang.InterruptedException

ping

public java.lang.Boolean ping()
                       throws CallError,
                              java.lang.InterruptedException

Just a ping. Always returns true

Returns:

returns true

Throws:

CallError

java.lang.InterruptedException

getMethodList

public java.util.List<java.lang.String> getMethodList()
                                               throws CallError,
                                                      java.lang.InterruptedException

Retrieves the module's method list.

Returns:

An array of method names.

Throws:

CallError

java.lang.InterruptedException

getMethodHelp

public java.lang.Object getMethodHelp(java.lang.String methodName)
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves a method's description.

Parameters:

methodName - The name of the method.

Returns:

A structure containing the method's description.

Throws:

CallError

java.lang.InterruptedException

getModuleHelp

public java.lang.Object getModuleHelp()
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves the module's description.

Returns:

A structure describing the module.

Throws:

CallError

java.lang.InterruptedException

wait

public java.lang.Boolean wait(java.lang.Integer id,
                              java.lang.Integer timeoutPeriod)
                       throws CallError,
                              java.lang.InterruptedException

Wait for the end of a long running method that was called using 'post'

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

timeoutPeriod - The timeout period in ms. To wait indefinately, use a timeoutPeriod of zero.

Returns:

True if the timeout period terminated. False if the method returned.

Throws:

CallError

java.lang.InterruptedException

isRunning

public java.lang.Boolean isRunning(java.lang.Integer id)
                            throws CallError,
                                   java.lang.InterruptedException

Returns true if the method is currently running.

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

Returns:

True if the method is currently running

Throws:

CallError

java.lang.InterruptedException

stop

public void stop(java.lang.Integer id)
          throws CallError,
                 java.lang.InterruptedException

returns true if the method is currently running

Parameters:

id - the ID of the method to wait for

Throws:

CallError

java.lang.InterruptedException

getBrokerName

public java.lang.String getBrokerName()
                               throws CallError,
                                      java.lang.InterruptedException

Gets the name of the parent broker.

Returns:

The name of the parent broker.

Throws:

CallError

java.lang.InterruptedException

getUsage

public java.lang.String getUsage(java.lang.String name)
                          throws CallError,
                                 java.lang.InterruptedException

Gets the method usage string. This summarises how to use the method.

Parameters:

name - The name of the method.

Returns:

A string that summarises the usage of the method.

Throws:

CallError

java.lang.InterruptedException

subscribe

public void subscribe(java.lang.String name,
                      java.lang.Integer period,
                      java.lang.Float precision)
               throws CallError,
                      java.lang.InterruptedException

Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.

Parameters:

name - Name of the module which subscribes.

period - Refresh period (in milliseconds) if relevant.

precision - Precision of the extractor if relevant.

Throws:

CallError

java.lang.InterruptedException

subscribe

public void subscribe(java.lang.String name)
               throws CallError,
                      java.lang.InterruptedException

Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.

Parameters:

name - Name of the module which subscribes.

Throws:

CallError

java.lang.InterruptedException

unsubscribe

public void unsubscribe(java.lang.String name)
                 throws CallError,
                        java.lang.InterruptedException

Unsubscribes from the extractor.

Parameters:

name - Name of the module which had subscribed.

Throws:

CallError

java.lang.InterruptedException

updatePeriod

public void updatePeriod(java.lang.String name,
                         java.lang.Integer period)
                  throws CallError,
                         java.lang.InterruptedException

Updates the period if relevant.

Parameters:

name - Name of the module which has subscribed.

period - Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

updatePrecision

public void updatePrecision(java.lang.String name,
                            java.lang.Float precision)
                     throws CallError,
                            java.lang.InterruptedException

Updates the precision if relevant.

Parameters:

name - Name of the module which has subscribed.

precision - Precision of the extractor.

Throws:

CallError

java.lang.InterruptedException

getCurrentPeriod

public java.lang.Integer getCurrentPeriod()
                                   throws CallError,
                                          java.lang.InterruptedException

Gets the current period.

Returns:

Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

getCurrentPrecision

public java.lang.Float getCurrentPrecision()
                                    throws CallError,
                                           java.lang.InterruptedException

Gets the current precision.

Returns:

Precision of the extractor.

Throws:

CallError

java.lang.InterruptedException

getMyPeriod

public java.lang.Integer getMyPeriod(java.lang.String name)
                              throws CallError,
                                     java.lang.InterruptedException

Gets the period for a specific subscription.

Parameters:

name - Name of the module which has subscribed.

Returns:

Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

getMyPrecision

public java.lang.Float getMyPrecision(java.lang.String name)
                               throws CallError,
                                      java.lang.InterruptedException

Gets the precision for a specific subscription.

Parameters:

name - name of the module which has subscribed

Returns:

precision of the extractor

Throws:

CallError

java.lang.InterruptedException

getSubscribersInfo

public java.lang.Object getSubscribersInfo()
                                    throws CallError,
                                           java.lang.InterruptedException

Gets the parameters given by the module.

Returns:

Array of names and parameters of all subscribers.

Throws:

CallError

java.lang.InterruptedException

getOutputNames

public java.util.List<java.lang.String> getOutputNames()
                                                throws CallError,
                                                       java.lang.InterruptedException

Get the list of values updated in ALMemory.

Returns:

Array of values updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

getEventList

public java.util.List<java.lang.String> getEventList()
                                              throws CallError,
                                                     java.lang.InterruptedException

Get the list of events updated in ALMemory.

Returns:

Array of events updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

getMemoryKeyList

public java.util.List<java.lang.String> getMemoryKeyList()
                                                  throws CallError,
                                                         java.lang.InterruptedException

Get the list of events updated in ALMemory.

Returns:

Array of events updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

isPaused

public java.lang.Boolean isPaused()
                           throws CallError,
                                  java.lang.InterruptedException

Gets extractor pause status

Returns:

True if the extractor is paused, False if not

Throws:

CallError

java.lang.InterruptedException

pause

public void pause(java.lang.Boolean status)
           throws CallError,
                  java.lang.InterruptedException

Changes the pause status of the extractor

Parameters:

status - New pause satus

Throws:

CallError

java.lang.InterruptedException