>Naomark detection

Reading the result in the ALMemory variable

Now we need to get a proxy to ALMemory and periodically check the ALLandMarkDetection output variable.

                # ALMemory variable where the ALLandMarkdetection module
                # outputs its results
                memValue = "LandmarkDetected"
                
                # Create a proxy to ALMemory
                try:
                    memoryProxy = ALProxy("ALMemory", IP, PORT)
                except Exception, e:
                    print "Error when creating memory proxy:"
                    print str(e)
                    exit(1)
                
                print "Creating landmark detection proxy"
                
                # A simple loop that reads the memValue and checks
                # whether landmarks are detected.                
                
                for i in range(0, 20):
                    time.sleep(0.5)
                    val = memoryProxy.getData(memValue, 0)
                
                    print ""
                    print "*****"
                    print ""
                
                    # Check whether we got a valid output: a list with two fields.
                    if(val and isinstance(val, list) and len(val) == 2):
                        # We detected naomarks !
                        # For each mark, we can read its shape info and ID.
                
                        # First Field = TimeStamp.
                        timeStamp = val[0]
                
                        # Second Field = array of Mark_Info's.
                        markInfoArray = val[1]
                
                        try:
                            # Browse the markInfoArray to get info on each detected mark.
                            for markInfo in markInfoArray:
                
                                # First Field = Shape info.
                                markShapeInfo = markInfo[0]
                
                                # Second Field = Extra info (ie, mark ID).
                                markExtraInfo = markInfo[1]
                
                                # Print Mark information.
                                print "mark  ID: %d" % (markExtraInfo[0])
                                print "  alpha %.3f - beta %.3f" % (markShapeInfo[1], markShapeInfo[2])
                                print "  width %.3f - height %.3f" % (markShapeInfo[3], markShapeInfo[4])
                
                        except Exception, e:
                            print "Naomarks detected, but it seems getData is invalid. ALValue ="
                            print val
                            print "Error msg %s" % (str(e))
                    else:
                        print "Error with getData. ALValue = %s" % (str(val))
                
                
                # Unsubscribe the module.
                landMarkProxy.unsubscribe("Test_LandMark")
                
                print "Test terminated successfully."