I am trying to run a simulation in ONE simulator using the haggle-one-infocom2006-complete model from CRAWDAD, but I'm getting an error saying:
Can't start: error in configuration file(s)
Invalid offset line '1 CONN 16 12 up'
Here is how I specified it in the settings:
Group.movementModel = ExternalMovement
ExternalMovement.file = haggle-one-infocom2006-complete.txt
The first line of the input file should contain offset information:
minTime maxTime minX maxX minY maxY minZ maxZ
See the ExternalMovementReader class for details.
Related
If I create a h5 file larger than 2GB, I get an error. Smaller than 2GB things work fine. I didn't think this filesize was a problem with the h5 format. This seems to not be a problem on my windows 8.1 machine, but is on my Ubuntu 20.04 machine.
MWE:
fname = 'tmp001.h5';
h5create(fname,'/DS1',[195 2048 1500],'DataType','single'); % doesn't work
h5write(fname,'/DS1',1,[1 1 1],[1 1 1]);
fname = 'tmp002.h5';
h5create(fname,'/DS1',[195 2048 1400],'DataType','single');% doesn't work
h5write(fname,'/DS1',1,[1 1 1],[1 1 1]);
fname = 'tmp003.h5';
h5create(fname,'/DS1',[195 2048 1300],'DataType','single');% does work
h5write(fname,'/DS1',1,[1 1 1],[1 1 1]);
This only seems to be a problem if I give it only a segment of the data set, and even then it works providing the size of the data is more than 2^14! See files 4 and 5:
fname = 'tmp004.h5';
h5create(fname,'/DS1',[536886273],'DataType','single');% does work
h5write(fname,'/DS1',rand(536886273,1)); % filesize > 2gb but length > 2^14
fname = 'tmp005.h5';
h5create(fname,'/DS1',[536886273],'DataType','single');% doesn't work
h5write(fname,'/DS1',1,1,1); % filesize > 2gb but length < 2^14
fname = 'tmp006.h5';
h5create(fname,'/DS1',[536886272],'DataType','single');% does work
h5write(fname,'/DS1',1,1,1); % length > 2^14 but okay since filesize < 2gb
Error:
Warning: The following error was caught while executing 'H5ML.id' class destructor:
Error using hdf5lib2
The HDF5 library encountered an error and produced the following stack trace information:
H5FD_truncate driver truncate request failed
H5F_dest low level truncate failed
H5F_try_close problems closing file
H5O_close problem attempting file close
H5D_close unable to release object header
H5I_dec_app_ref can't decrement ID ref count
H5I_dec_app_ref_always_close can't decrement ID ref count
H5Dclose can't decrement count on dataset ID
Error in H5ML.id/close (line 47)
H5ML.hdf5lib2(obj.callback, obj.identifier);
Error in H5ML.id/delete (line 36)
obj.close();
I am trying to control motor torque and am using a workspace variable in Simulink and want to output similar variable to workspace.
I have size(T_u)=[3, 91] whereas the output I am getting from the simulation has size [91, 90]
I am unable to understand why this is so.
Code that I am using:
load('Motor_Param.mat')
t = 1:0.1:10;
T_o = [0.05*(10-t);0.04*(10-t);0.03*(10-t)];
T_d = zeros(size(T_o));
T_e = (T_d - T_o);
C_PD = pid(100,0,10,100);
T_u = zeros(size(T_e));
for k=1:size(T_e,1)
T_u(k,:) = lsim(C_PD,T_e(k,:),t);
%T_u(1,:)= -45.0450000000000 -44.5444552724092 -44.0439110892737 -43.5433674500493 -43.0428243541925 -42.5422818011600 -42.0417397904094 -41.5411983213986 -41.0406573935862 -40.5401170064312 -40.0395771593933 -39.5390378519326 -39.0384990835098 -38.5379608535861 -38.0374231616233 -37.5368860070837 -37.0363493894301 -36.5358133081260 -36.0352777626353 -35.5347427524223 -35.0342082769522 -34.5336743356904 -34.0331409281029 -33.5326080536564 -33.0320757118181 -32.5315439020554 -32.0310126238368 -31.5304818766308 -31.0299516599067 -30.5294219731343 -30.0288928157839 -29.5283641873264 -29.0278360872332 -28.5273085149760 -28.0267814700274 -27.5262549518604 -27.0257289599483 -26.5252034937652 -26.0246785527857 -25.5241541364848 -25.0236302443380 -24.5231068758215 -24.0225840304120 -23.5220617075865 -23.0215399068228 -22.5210186275990 -22.0204978693939 -21.5199776316868 -21.0194579139572 -20.5189387156857 -20.0184200363529 -19.5179018754402 -19.0173842324294 -18.5168671068029 -18.0163504980435 -17.5158344056347 -17.0153188290603 -16.5148037678048 -16.0142892213531 -15.5137751891906 -15.0132616708034 -14.5127486656779 -14.0122361733011 -13.5117241931606 -13.0112127247442 -12.5107017675407 -12.0101913210389 -11.5096813847285 -11.0091719580996 -10.5086630406426 -10.0081546318487 -9.50764673120954 -9.00713933821711 -8.50663245236405 -8.00612607314350 -7.50562020004906 -7.00511483257487 -6.50460997021554 -6.00410561246623 -5.50360175882257 -5.00309840878072 -4.50259556183731 -4.00209321748951 -3.50159137523496 -3.00109003457184 -2.50058919499879 -2.00008885601498 -1.49958901712007 -0.999089677814209 -0.498590837598075 0.00190750402718064
a = sim('Motor_Control','SimulationMode','normal');
out = a.get('T_l')
end
Link to .mat and .slx files is: https://drive.google.com/open?id=1kGeA4Cmt8mEeM3ku_C4NtXclVlHsssuw
If you set the Save format in the To Workspace block to Timeseries the output will have the dimensions of the signal times the number of timesteps.
In your case I activated the option Display->Signals & Ports->Signal dimensions and the signal dimensions in your model look like this:
So the signal that you output to the workspace has the size 90. Now if I print size(out.Data) I get
ans = 138 90
where 90 is the signal dimension and 138 is the number of timesteps in your Simulink model.
You could now use the last row of the data (which has the length 90) and add it to your array.
I edit your code, the code has [21,3] output size. "21" is coming from (t_final*1/sample_time+1)
In your code, time t should start from 0.
Motor_Control.slx model has 0.1 sample time if you run the model for a 9 second, the output file has 91 samples for each signal and that's why you have [91, 90] sized output. I download from your drive link and this Simulink model has 2 sec. simulation.
T_u is used as an input of the Simulink model, it is not constant so T_u must be time series.
The edited code is below;
load('Motor_Param.mat')
t = 0:0.1:10;
T_o = [0.05*(10-t);0.04*(10-t);0.03*(10-t)];
T_d = zeros(size(T_o));
T_e = (T_d - T_o);
C_PD = pid(100,0,10,100);
T_u = timeseries(zeros(size(T_e)),t);
for k=1:size(T_e,1)
T_u.Data(k,:) = lsim(C_PD,T_e(k,:),t);
a = sim('Motor_Control','SimulationMode','normal');
out = a.get('T_l')
end
My Problem:
I want to use functions of opencv like the MIL-Tracker or MedianFlow-Tracker in Matlab (these functions are not in mexopencv). But I don't know how or understand how to do this. The documentation of opencv/mexopencv doesn't help me. This doesn't help: how do OpenCV shared libraries in matlab? - because the link in the answer is down.
So is there a way to use these functions in Matlab? And if- How?
Why?: As a part of my bachelor thesis I have to compare different already implemented ways to track people.
If you would like to use these functions specifically in MATLAB you could always write your own MEX file in C/C++ and send the data back/forward between the two calls, however this would require some basic C++ knowledge and understanding creating MEX files.
Personally I would definately recommend trying this with Python and the OpenCV Python interface since its so widely used and more supported than using the calls in MATLAB (plus its always a useful skill to be able to switch between Python and MATLAB as and when needed).
There is a full example with the MIL-Tracker and the MedianFlow-Tracker (and others) here (Which demonstrates using them in C++ and Python!).
Python Example :
import cv2
import sys
(major_ver, minor_ver, subminor_ver) = (cv2.__version__).split('.')
if __name__ == '__main__' :
# Set up tracker.
# Instead of MIL, you can also use
tracker_types = ['BOOSTING', 'MIL','KCF', 'TLD', 'MEDIANFLOW', 'GOTURN']
tracker_type = tracker_types[2]
if int(minor_ver) < 3:
tracker = cv2.Tracker_create(tracker_type)
else:
if tracker_type == 'BOOSTING':
tracker = cv2.TrackerBoosting_create()
if tracker_type == 'MIL':
tracker = cv2.TrackerMIL_create()
if tracker_type == 'KCF':
tracker = cv2.TrackerKCF_create()
if tracker_type == 'TLD':
tracker = cv2.TrackerTLD_create()
if tracker_type == 'MEDIANFLOW':
tracker = cv2.TrackerMedianFlow_create()
if tracker_type == 'GOTURN':
tracker = cv2.TrackerGOTURN_create()
# Read video
video = cv2.VideoCapture("videos/chaplin.mp4")
# Exit if video not opened.
if not video.isOpened():
print "Could not open video"
sys.exit()
# Read first frame.
ok, frame = video.read()
if not ok:
print 'Cannot read video file'
sys.exit()
# Define an initial bounding box
bbox = (287, 23, 86, 320)
# Uncomment the line below to select a different bounding box
bbox = cv2.selectROI(frame, False)
# Initialize tracker with first frame and bounding box
ok = tracker.init(frame, bbox)
while True:
# Read a new frame
ok, frame = video.read()
if not ok:
break
# Start timer
timer = cv2.getTickCount()
# Update tracker
ok, bbox = tracker.update(frame)
# Calculate Frames per second (FPS)
fps = cv2.getTickFrequency() / (cv2.getTickCount() - timer);
# Draw bounding box
if ok:
# Tracking success
p1 = (int(bbox[0]), int(bbox[1]))
p2 = (int(bbox[0] + bbox[2]), int(bbox[1] + bbox[3]))
cv2.rectangle(frame, p1, p2, (255,0,0), 2, 1)
else :
# Tracking failure
cv2.putText(frame, "Tracking failure detected", (100,80), cv2.FONT_HERSHEY_SIMPLEX, 0.75,(0,0,255),2)
# Display tracker type on frame
cv2.putText(frame, tracker_type + " Tracker", (100,20), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (50,170,50),2);
# Display FPS on frame
cv2.putText(frame, "FPS : " + str(int(fps)), (100,50), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (50,170,50), 2);
# Display result
cv2.imshow("Tracking", frame)
# Exit if ESC pressed
k = cv2.waitKey(1) & 0xff
if k == 27 : break
I would definately try it using Python (if this is an option). Otherwise if MATLAB is a must then probably try implementing the C++ example code shown in the link before as a MEX file and linking openCV during the compilation i.e.
mex trackerMexOpenCV.cpp 'true filepath location to openCV lib'
I hope this helps!
This question already has answers here:
refreshPreferences HangTracerEnabled / HangTracerDuration messages in iOS 11 + Xcode 9
(3 answers)
Closed 5 years ago.
add this line code to my class
let myLayer = CALayer()
myLayer.contents = self.makeTrySwiftLogoImage().CGImage
var transform = CATransform3DIdentity
transform.m34 = 1.0 / -500
transform = CATransform3DRotate(transform, 45.0f * M_PI / 180.0, 0, 1, 0)
myLayer.transform = transform
and get this message to my console
2017-09-22 18:00:53.354890+0330 SibDiet[973:944502] refreshPreferences: HangTracerEnabled: 0
2017-09-22 18:00:53.355974+0330 SibDiet[973:944502] refreshPreferences: HangTracerDuration: 500
2017-09-22 18:00:53.356014+0330 SibDiet[973:944502] refreshPreferences: ActivationLoggingEnabled: 0 ActivationLoggingTaskedOffByDA:0
and don't run my application, remove this 6 line and run again but receive this message again, remove Xcode and install again but no fix
I managed to fix it on High Sierra(10.13.1) XCode 9.1 and with iOS 11.0.3 by defining OS_ACTIVITY_MODE as disable by going in XCode via
Product > Scheme > Edit Scheme > Arguments > Environment Variables
add OS_ACTIVITY_MODE disable
schema editor (fragment)
Note: NSLog may not work after doing this.
Similar issue is reported in the question:
refreshPreferences HangTracerEnabled / HangTracerDuration messages in iOS 11 + Xcode 9
I would like to read .yml files in Matlab. These files contain coordinates x and y of key points on a face image. I looked for different tools but I don't seem to find any answers.
My .yml files look like this
YAML:1.0
Image file: "00032009.jpg"
Contours count: 8
Contours:
-
Name: FO
Count: 41
Closed: 0
Points:
-
x: 682.5947265625000000
y: 743.1998901367187500
-
x: 685.9638061523437500
y: 771.3800659179687500
......
and so on
Note 00032009.jpg is an image of a face
x and y are coordinates of a point on a face Eg: the right corner of an eye etc
Could you please point out a way to read the file and then display the points on the face image?
Edit 1: Here is the error I get
Error: File: ReadYamlRaw.m Line: 14 Column: 11
Expression or statement is incorrect--possibly unbalanced (, {, or [.
Error in ==> ReadYaml at 38
ry = ReadYamlRaw(filename, 0, nosuchfileaction);
What is weird is line 14 in ReadYamlRaw.m
[pth,~,~]= fileparts(mfilename('fullpath'));
Parse error at ','(second one) and ']' usage appears to be invalid matlab syntax.
So what is the use of ~ in there and why is there an error?
Edit2: I replaced the ~ in the line above with dummy variables then I get this errors O_O
Error using ==> ReadYamlRaw>scan at 81
Unknown data type: logical
Error in ==> ReadYamlRaw>scan_map at 138
result.(ich) = scan(r.get(java.lang.String(ich)));
Error in ==> ReadYamlRaw>scan at 79
result = scan_map(r);
Error in ==> ReadYamlRaw>scan_list at 116
result{ii} = scan(i);
Error in ==> ReadYamlRaw>scan at 77
result = scan_list(r);
Error in ==> ReadYamlRaw>scan_map at 138
result.(ich) = scan(r.get(java.lang.String(ich)));
Error in ==> ReadYamlRaw>scan at 79
result = scan_map(r);
Error in ==> ReadYamlRaw>load_yaml at 48
result = scan(yaml.load(fileread([filename, fileext])));
Error in ==> ReadYamlRaw at 19
result = load_yaml(filename, nosuchfileaction);
Error in ==> ReadYaml at 38
ry = ReadYamlRaw(filename, 0, nosuchfileaction);
I also tried with a different yml file that looks like this
%YAML:1.0
RE-C:
x: 919
y: 580
LE-C:
x: 1209
y: 597
N-C:
x: 1063
y: 698
FO-B:
x: 1045
y: 1114
REL-O:
x: 852
y: 597
REL-I:
x: 986
y: 600
REL-T:
x: 918
y: 564
And I get the following errors
Java exception occurred:
while scanning a directive
in "<string>", line 1, column 1:
%YAML:1.0
^
expected alphabetic or numeric character, but found :(58)
in "<string>", line 1, column 6:
%YAML:1.0
^
at org.yaml.snakeyaml.scanner.ScannerImpl.scanDirectiveName(ScannerImpl.java:1028)
at org.yaml.snakeyaml.scanner.ScannerImpl.scanDirective(ScannerImpl.java:990)
at org.yaml.snakeyaml.scanner.ScannerImpl.fetchDirective(ScannerImpl.java:534)
at org.yaml.snakeyaml.scanner.ScannerImpl.fetchMoreTokens(ScannerImpl.java:251)
at org.yaml.snakeyaml.scanner.ScannerImpl.checkToken(ScannerImpl.java:179)
at
org.yaml.snakeyaml.parser.ParserImpl$ParseImplicitDocumentStart.produce(ParserImpl.java:198)
at org.yaml.snakeyaml.parser.ParserImpl.peekEvent(ParserImpl.java:161)
at org.yaml.snakeyaml.parser.ParserImpl.checkEvent(ParserImpl.java:146)
at org.yaml.snakeyaml.composer.Composer.getSingleNode(Composer.java:105)
at org.yaml.snakeyaml.constructor.BaseConstructor.getSingleData(BaseConstructor.java:121)
at org.yaml.snakeyaml.Yaml.loadFromReader(Yaml.java:480)
at org.yaml.snakeyaml.Yaml.load(Yaml.java:399)
Error in ==> ReadYamlRaw>load_yaml at 48
result = scan(yaml.load(fileread([filename, fileext])));
Error in ==> ReadYamlRaw at 19
result = load_yaml(filename, nosuchfileaction);
Error in ==> ReadYaml at 38
ry = ReadYamlRaw(filename, 0, nosuchfileaction);
Maybe someone can make something out of these or you could point out another set of functions that would work? I searched but didn't find any except this one.
It's YAML file indeed (as #DavidBrown mentioned in his comment, the extension does not matter). But it has some problems. Don't know if it's due to wrong YAML format or MATLAB implementation.
I've installed YAMLMATLAB and played a little with your file.
YamlStruct = ReadYaml(yaml_file);
YAMLMATLAB returns error if the files is feed as is. It works only if I comment the first line and remove spaces from field names. So the beginning of the file looks like this:
#YAML:1.0
Imagefile: 00032009.jpg
Contourscount: 8
...skipped the rest...
Then I get the correct structure. For example you can access the 1st point's x coordinate as
YamlStruct.Contours{1}.Points{1}.x
ans =
682.5947
UPDATE
Space in filed names is actually a known problem in YAMLMATLAB. See the report and possible solution here.
UPDATE 2
According to comment from #Jirka_cigler (YAMLMATLAB developers group):
In the program release 0.4.3 we added support for whitespaces in field
names, so the problem should not appear again.
Great!
I've also removed previous developers comment on the problem in the first UPDATE since it's not true any more.
ZozaniDB Database Toolbox comes with a Matlab-native YAML implementation that handles the .yml file here. To parse a string or a file, use:
>> yaml_parse ( str )
>> yaml_read ( filename )