Overview
Introduction
This module computes a location of a sound source detected by ALSoundDetection Module
When you subscribe to ALAudioSourceLocalization, ALAudioSourceLocalization subscribes directly to ALSoundDetection.
This module doesn't change parameters of ALSoundDetection.
ALAudioSourceLocalization/SoundLocated event
The structure of the result is an array of this form: [ [Time [sec, usec]] , [Sound Location [azimuth, elevation, confidence]] , [Head Position [6D]] ]
Coordinate system
The location of each sound is computed in the Head's space with spherical coordinates (azimuth, elevation).
Therefore, the distance from NAO to the Sound Source is not calculated.
energy of detected sound
It is possible to enable energy of detected sound with setParameter method.
by default, "EnergyComputation" is set to False########### PYTHON SCRIPT ########### ALAudioProxy = ALProxy("ALAudioSourceLocalization") # enable energy computation ALAudioProxy.setParameter("EnergyComputation", True) # disable energy computation ALAudioProxy.setParameter("EnergyComputation", False)
When "EnergyComputation" is enable, structure of ALAudioSourceLocalization/SoundLocated event become :
[ [Time [sec, usec]] , [Sound Location [azimuth, elevation, confidence, energy]] , [Head Position [6D]] ]