Human¶

Getting humans around Pepper¶

Get access to the humans found by Pepper:

val humanAwareness: HumanAwareness = qiContext.humanAwareness
val humansAround: List<Human> = humanAwareness.humansAround

HumanAwareness humanAwareness = qiContext.getHumanAwareness();
List<Human> humansAround = humanAwareness.getHumansAround();

Getting the human engaged by Pepper¶

The human currently engaged by the robot is available via the getEngagedHuman method:

val humanAwareness: HumanAwareness = qiContext.humanAwareness
val engagedHuman: Human = humanAwareness.engagedHuman

HumanAwareness humanAwareness = qiContext.getHumanAwareness();
Human engagedHuman = humanAwareness.getEngagedHuman();

A human to engage can be chosen by running EngageHuman action. This is a preferred engagement strategy for one-to-one interactions where Pepper should be focused exclusively on one human. Otherwise, engaged human is defined by BasicAwareness strategy and represents the human currently tracked by the robot. In certain use cases you can rely on this default strategy, for example when Pepper just needs to acknowledge or greet humans around him, show a short promotional content, etc. In the following example each time Pepper starts tracking a new human, he will greet them.

val say: Say = SayBuilder.with(qiContext)
                    .withText("Welcome!")
                    .build()

humanAwareness.addOnEngagedHumanChangedListener { human ->
    human?.let {
        say.run()
    }
}

Say say = SayBuilder.with(qiContext)
                    .withText("Welcome!")
                    .build();

humanAwareness.addOnEngagedHumanChangedListener(human -> {
    if (human != null) {
        say.run();
    }
});

Getting the human position¶

The human position is available via the getHeadFrame method:

val human: Human = ...
val headFrame: Frame = human.headFrame

Human human = ...;
Frame headFrame = human.getHeadFrame();

See: Frame for more details about its usage.

Getting the human face picture¶

The human face picture with accompanying timestamp is available via the getFacePicture method:

val human: Human = ...
val timestampedImage: TimestampedImage = human.facePicture
val encodedImage: EncodedImage = timestampedImage.image
val imageData: ByteBuffer = encodedImage.data
val time: Long = timestampedImage.time

Human human = ...;
TimestampedImage timestampedImage = human.getFacePicture();
EncodedImage encodedImage = timestampedImage.getImage();
ByteBuffer imageData = encodedImage.getData();
Long time = timestampedImage.getTime();

The face picture and timestamp correspond to the last available image satisfying the filtering conditions:

• Keep only images of front facing faces.
• Discard blurry images.

Note that the byte array can be empty if there is no human face picture satisfying the filtering conditions, otherwise the last taken picture will be sent.

Pictures capture, before filtering, occurs with a frequency of 5Hz. The given image is an 8 bit encoded grayscale image with a minimum size of 25x25 pixels.

Retrieving characteristics¶

The Human object provides some human characteristics:

val human: Human = ...
val age: Int = human.estimatedAge.years
val gender: Gender = human.estimatedGender
val pleasureState: PleasureState = human.emotion.pleasure
val excitementState: ExcitementState = human.emotion.excitement
val smileState: SmileState = human.facialExpressions.smile
val attentionState: AttentionState = human.attention
val engagementIntentionState: EngagementIntentionState = human.engagementIntention

Human human = ...;
Integer age = human.getEstimatedAge().getYears();
Gender gender = human.getEstimatedGender();
PleasureState pleasureState = human.getEmotion().getPleasure();
ExcitementState excitementState = human.getEmotion().getExcitement();
SmileState smileState = human.getFacialExpressions().getSmile();
AttentionState attentionState = human.getAttention();
EngagementIntentionState engagementIntentionState = human.getEngagementIntention();

The available human characteristics are: