机器人视觉项目：视觉检测识别+机器人跟随（6）

opencv的行人检测demo中的get_support_vector在之前返回的值一直是1,也就是支持向量个数一直是1,这样在
for(int i=0; i<supportVectorNum; i++)

        {

            const float * pSVData = svm.get_support_vector(i);//返回所有支持向量的指针
        cout<<"支持向量："<< * pSVData<<endl;

            for(int j=0; j<DescriptorDim; j++)

            {
        //有没有可能访问了空指针？
                //supportVectorMat.at<float>(i,j) = pSVData[j];
                supportVectorMat.at<float>(i,j) = pSVData[j];
                

            }

        }

        double * pAlphaData = svm.get_alpha_vector();

        for(int i=0; i<supportVectorNum; i++)

        {

            alphaMat.at<float>(0,i) = pAlphaData[i];

        }   
这段代码中明显出现数组越界了，所以报错段错误就有理由了，
 int supportVectorNum = svm.get_support_vector_count();//支持向量的个数
 这句代码是表明支持向量的个数是有这个函数得到的，这个函数并没有参数传入，那是由什么因素决定的支持向量个数？网上有人问这个问题，

 但是没有搜啊到有用的回答，这个有点头疼，，

runtracker.cpp

#include <iostream>

#include <fstream>

#include <sstream>

#include <algorithm>

#include <dirent.h>

#include <math.h>

#include <ros/ros.h>

#include <ros/package.h>

#include <image_transport/image_transport.h>

#include <cv_bridge/cv_bridge.h>

#include <sensor_msgs/image_encodings.h>

#include "geometry_msgs/Twist.h"

#include <opencv2/core/core.hpp>

#include <opencv2/highgui/highgui.hpp>

#include <opencv2/imgproc/imgproc.hpp>

#include <opencv2/objdetect/objdetect.hpp>

#include <stdio.h>

#include <string.h>

#include <ctype.h>

#include "kcftracker.hpp"

#include <opencv2/ml/ml.hpp>  

using namespace cv;

using namespace std;

static const std::string RGB_WINDOW = "RGB Image window";

//static const std::string DEPTH_WINDOW = "DEPTH Image window";

#define Max_linear_speed 1

#define Min_linear_speed 0.4

#define Min_distance 1.0

#define Max_distance 5.0

#define Max_rotation_speed 0.75

float linear_speed = 0;

float rotation_speed = 0;

float k_linear_speed = (Max_linear_speed - Min_linear_speed) / (Max_distance - Min_distance);

float h_linear_speed = Min_linear_speed - k_linear_speed * Min_distance;

float k_rotation_speed = 0.004;

float h_rotation_speed_left = 1.2;

float h_rotation_speed_right = 1.36;

float distance_scale = 1.0;

int ERROR_OFFSET_X_left1 = 100;

int ERROR_OFFSET_X_left2 = 300;

int ERROR_OFFSET_X_right1 = 340;

int ERROR_OFFSET_X_right2 = 600;

int roi_height = 100;

int roi_width = 100;

cv::Mat rgbimage;

cv::Mat depthimage;

cv::Rect selectRect;

cv::Point origin;

cv::Rect result;

bool select_flag = false;

bool bRenewROI = false;  // the flag to enable the implementation of KCF algorithm for the new chosen ROI

bool bBeginKCF = false;

bool enable_get_depth = false;

bool HOG = true;

bool FIXEDWINDOW = false;

bool MULTISCALE = true;

bool SILENT = true;

bool LAB = false;

int DescriptorDim;

bool has_dectect_people ;

// Create KCFTracker object

KCFTracker tracker(HOG, FIXEDWINDOW, MULTISCALE, LAB);

vector<float> myDetector;

float dist_val[5] ;

/*
void onMouse(int event, int x, int y, int, void*)

{

    if (select_flag)

    {

        selectRect.x = MIN(origin.x, x);

        selectRect.y = MIN(origin.y, y);

        selectRect.width = abs(x - origin.x);

        selectRect.height = a