# SoftBank Robotics documentation What's new in NAOqi 2.8?

# ALGazeAnalysis API

NAOqi People Perception - Overview | API

Namespace : AL

    #include <alproxies/algazeanalysisproxy.h>

## Method list

class `ALGazeAnalysisProxy`

- As any module, this module inherits methods from ALModule API.
- It also inherits methods from ALExtractor API.
- It also has the following specific methods:
  - `ALGazeAnalysisProxy::getTolerance`
  - `ALGazeAnalysisProxy::setTolerance`
  - `ALGazeAnalysisProxy::isFaceAnalysisEnabled` (deprecated)
  - `ALGazeAnalysisProxy::setFaceAnalysisEnabled` (deprecated)

## Event list

- `GazeAnalysis/PersonStartsLookingAtRobot()`
- `GazeAnalysis/PersonStopsLookingAtRobot()`
- `GazeAnalysis/PeopleLookingAtRobot()`

## ALMemory Key list

- `PeoplePerception/Person/<ID>/EyeOpeningDegree`
- `PeoplePerception/Person/<ID>/GazeDirection`
- `PeoplePerception/Person/<ID>/HeadAngles`
- `PeoplePerception/Person/<ID>/IsLookingAtRobot`
- `PeoplePerception/Person/<ID>/LookingAtRobotScore`

## Methods

float `ALGazeAnalysisProxy::``getTolerance`()

  See ALGazeAnalysis for details about the Tolerance value.

  Returns: | Current value of the Tolerance for gaze analysis.

void `ALGazeAnalysisProxy::``setTolerance`(const float& tolerance)

  Sets the value of the Tolerance for gaze analysis. See ALGazeAnalysis for details about the Tolerance value.

  Parameters: | tolerance – New Tolerance value (between 0 and 1).

bool `ALGazeAnalysisProxy::``isFaceAnalysisEnabled`()

  Deprecated since version 1.22: This module has only one mode of operation.

  Returns: | false.

void `ALGazeAnalysisProxy::``setFaceAnalysisEnabled`(const bool& status)

  Deprecated since version 1.22: This module has only one mode of operation.

## Events

Event: `"GazeAnalysis/PersonStartsLookingAtRobot"`
callback(std::string eventName, int id, std::string subscriberIdentifier)

  Raised when someone turns his head towards the robot.

  Parameters: | eventName (std::string) – “GazeAnalysis/PersonStartsLookingAtRobot” id – ID of the person subscriberIdentifier (std::string) –

Event: `"GazeAnalysis/PersonStopsLookingAtRobot"`
callback(std::string eventName, int id, std::string subscriberIdentifier)

  Raised when someone turns his head away from the robot.

  Parameters: | eventName (std::string) – “GazeAnalysis/PersonStopsLookingAtRobot” id – ID of the person subscriberIdentifier (std::string) –

Event: `"GazeAnalysis/PeopleLookingAtRobot"`
callback(std::string eventName, AL::ALValue idList, std::string subscriberIdentifier)

  Raised each time the list of people looking at the robot changes.

  Parameters: | eventName (std::string) – “GazeAnalysis/PeopleLookingAtRobot” idList – list of the IDs of the people looking at the robot. subscriberIdentifier (std::string) –

## ALMemory Keys

AL::ALValue `PeoplePerception/Person/<ID>/EyeOpeningDegree`

  Opening degree of each eye in the form [leftEye, rightEye] where each value is between 0 and 1 (0 means that the eye is closed, 1 means that it is open). Left and right are taken from the person’s point of view, which means that the left eye is seen on the right in the camera image and conversely. <ID> is the ID of the person (see ALPeoplePerception API).

AL::ALValue `PeoplePerception/Person/<ID>/GazeDirection`

  Gaze direction in the form [yaw, pitch] in radians. The gaze direction is computed relative to the plane of the face. <ID> is the ID of the person (see ALPeoplePerception API).

AL::ALValue `PeoplePerception/Person/<ID>/HeadAngles`

  Head orientation of the person along the three axis (yaw, pitch, roll) in radian. <ID> is the ID of the person (see ALPeoplePerception API).

bool `PeoplePerception/Person/<ID>/IsLookingAtRobot`

  Says whether the person is looking or not at the robot. <ID> is the ID of the person (see ALPeoplePerception API).

float `PeoplePerception/Person/<ID>/LookingAtRobotScore`

  Stores the confidence (between 0 and 1) in the fact that the person is looking at the robot. <ID> is the ID of the person (see ALPeoplePerception API).

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