1. 将手动画框给小强机器人行人跟踪的代码用opencv行人检测的demo替换，实现自动检测。在网上下载了一个XML训练模型，并修改了代码，
在catkin_make这个工作空间时出现问题，一直报错：
xiaoqiang@xiaoqiang-desktop:~/catkin_tra
$ catkin_make
Base path: /home/xiaoqiang/catkin_tra
Source space: /home/xiaoqiang/catkin_tra/src
Build space: /home/xiaoqiang/catkin_tra/build
Devel space: /home/xiaoqiang/catkin_tra/devel
Install space: /home/xiaoqiang/catkin_tra/install
####
#### Running command: "make cmake_check_build_system" in "/home/xiaoqiang/catkin_tra/build"
####
####
#### Running command: "make -j4 -l4" in "/home/xiaoqiang/catkin_tra/build"
####
[ 25%] Building CXX object track_pkg_new/CMakeFiles/kcf_node.dir/src/runtracker.cpp.o
In file included from /opt/ros/kinetic/include/ros/ros.h:40:0,
from /home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:13:
/opt/ros/kinetic/include/ros/console.h:158:82: warning: extra ‘;’ [-Wpedantic]
const char* function, const char* fmt, ...) ROSCONSOLE_PRINTF_ATTRIBUTE(7, 8);
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:191:27: error: expected class-name before ‘{’ token
class MySVM : public CvSVM{
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp: In member function ‘double* MySVM::get_alpha_vector()’:
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:200:22: error: ‘class MySVM’ has no member named ‘decision_func’
return this->decision_func->alpha;
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp: In member function ‘float MySVM::get_rho()’:
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:211:22: error: ‘class MySVM’ has no member named ‘decision_func’
return this->decision_func->rho;
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp: In member function ‘void ImageConverter::preparePeopleDetect()’:
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:392:13: error: ‘class MySVM’ has no member named ‘load’
svm.load(path.c_str());
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:394:29: error: ‘class MySVM’ has no member named ‘get_var_count’
DescriptorDim = svm.get_var_count();
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:396:36: error: ‘class MySVM’ has no member named ‘get_support_vector_count’
int supportVectorNum = svm.get_support_vector_count();
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:416:41: error: ‘class MySVM’ has no member named ‘get_support_vector’
const float * pSVData = svm.get_support_vector(i);
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:476:23: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<myDetector.size(); i++)
^
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp: In member function ‘void ImageConverter::peopleDetect()’:
/home/xiaoqiang/catkin_tra/src/track_pkg_new/src/runtracker.cpp:512:45: warning: format ‘%d’ expects argument of type ‘int’, but argument 2 has type ‘std::vector<cv::Rect_<int> >::size_type {aka long unsigned int}’ [-Wformat=]
printf("found.size==%d",found.size());
^
track_pkg_new/CMakeFiles/kcf_node.dir/build.make:110: recipe for target 'track_pkg_new/CMakeFiles/kcf_node.dir/src/runtracker.cpp.o' failed
make[2]: *** [track_pkg_new/CMakeFiles/kcf_node.dir/src/runtracker.cpp.o] Error 1
CMakeFiles/Makefile2:437: recipe for target 'track_pkg_new/CMakeFiles/kcf_node.dir/all' failed
make[1]: *** [track_pkg_new/CMakeFiles/kcf_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
分析原因主要是提示找不到MySVM类，MySVM类是继承于CvSVM类，这个类是opencv中的一个库中的类：
C++: CvSVM::CvSVM(const Mat& trainData, const Mat& responses, const Mat& varIdx=Mat(), const Mat& sampleIdx=Mat(), CvSVMParams params=CvSVMParams() )
在小强机器人主机中查找opencv，只有opencv最常用的几个包在，很多opencv包都没有找到，猜想需要将opencv在小强主机中下载编译安装，看是否可以catkin_make成功
修改的代码和网上付费下载的预训练模型同时传上来。