Added parameter General/sendNoObjDetectedEvents

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@284 620bd6b2-0a58-f614-fd9a-1bd335dccda9

src/MainWindow.cpp

@@ -1716,12 +1716,16 @@ void MainWindow::update(const cv::Mat & image)
 						QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
 						(int)objectsDetected.begin().key());
 			}
-			else
+			else if(Settings::getGeneral_sendNoObjDetectedEvents())
 			{
 				printf("(%s) No objects detected.\n",
 						QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
 			}
+
+			if(objectsDetected.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
+			{
 				emit objectsFound(objectsDetected);
+			}
 			ui_->label_objectsDetected->setNum(objectsDetected.size());
 		}
 		else

src/Settings.h

@@ -183,6 +183,7 @@ class Settings
 	PARAMETER(General, autoScroll, bool, true, "Auto scroll to detected object in Objects panel.");
 	PARAMETER(General, vocabularyIncremental, bool, false, "The vocabulary is created incrementally. When new objects are added, their descriptors are compared to those already in vocabulary to find if the visual word already exist or not. \"NearestNeighbor/nndrRatio\" is used to compare descriptors.");
 	PARAMETER(General, vocabularyUpdateMinWords, int, 2000, "When the vocabulary is incremental (see \"General/vocabularyIncremental\"), after X words added to vocabulary, the internal index is updated with new words. This parameter lets avoiding to reconstruct the whole nearest neighbor index after each time descriptors of an object are added to vocabulary. 0 means no incremental update.");
+	PARAMETER(General, sendNoObjDetectedEvents, bool, true, "When there are no objects detected, send an empty object detection event.");
 
 	PARAMETER(Homography, homographyComputed, bool, true, "Compute homography? On ROS, this is required to publish objects detected.");
 	PARAMETER(Homography, method, QString, "1:LMEDS;RANSAC", "Type of the robust estimation algorithm: least-median algorithm or RANSAC algorithm.");

src/TcpServer.cpp

@@ -54,8 +54,6 @@ quint16 TcpServer::getPort() const
 
 void TcpServer::publishObjects(const QMultiMap<int, QPair<QRect, QTransform> > & objects)
 {
-	if(objects.size())
-	{
 	QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
 	if(clients.size())
 	{
@@ -89,7 +87,6 @@ void TcpServer::publishObjects(const QMultiMap<int, QPair<QRect, QTransform> > &
 			(*iter)->write(block);
 		}
 	}
-	}
 }
 
 void TcpServer::addClient()

tcpClient/TcpClient.cpp

@@ -49,6 +49,13 @@ void TcpClient::readData()
 	in >> data;
 
 	printf("---\n");
+	if(data.size() == 0)
+	{
+		printf("(%s) No objects detected.\n",
+				QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
+	}
+	else
+	{
 		for(int i=0; i<data.size(); i+=12)
 		{
 			// get data
@@ -104,6 +111,7 @@ void TcpClient::readData()
 						outPts.at(3).x, outPts.at(3).y);
 			}
 		}
+	}
 }
 
 void TcpClient::displayError(QAbstractSocket::SocketError socketError)