import cv2 import time import numpy as np from src import PersonDetector, DistanceCalculator, MapManager, config class RealTimePersonDistanceDetector: def __init__(self): self.detector = PersonDetector() self.distance_calculator = DistanceCalculator() self.cap = None self.fps_counter = 0 self.fps_time = time.time() self.current_fps = 0 # 初始化地图管理器 if config.ENABLE_MAP_DISPLAY: self.map_manager = MapManager( api_key=config.GAODE_API_KEY, camera_lat=config.CAMERA_LATITUDE, camera_lng=config.CAMERA_LONGITUDE ) self.map_manager.set_camera_position( config.CAMERA_LATITUDE, config.CAMERA_LONGITUDE, config.CAMERA_HEADING ) print("🗺️ 地图管理器已初始化") else: self.map_manager = None def initialize_camera(self): """初始化摄像头""" self.cap = cv2.VideoCapture(config.CAMERA_INDEX) if not self.cap.isOpened(): raise Exception(f"无法开启摄像头 {config.CAMERA_INDEX}") # 设置摄像头参数 self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, config.FRAME_WIDTH) self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, config.FRAME_HEIGHT) self.cap.set(cv2.CAP_PROP_FPS, config.FPS) # 获取实际设置的参数 actual_width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)) actual_height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) actual_fps = int(self.cap.get(cv2.CAP_PROP_FPS)) print(f"摄像头初始化成功:") print(f" 分辨率: {actual_width}x{actual_height}") print(f" 帧率: {actual_fps} FPS") def calculate_fps(self): """计算实际帧率""" self.fps_counter += 1 current_time = time.time() if current_time - self.fps_time >= 1.0: self.current_fps = self.fps_counter self.fps_counter = 0 self.fps_time = current_time def draw_info_panel(self, frame, person_count=0): """绘制信息面板""" height, width = frame.shape[:2] # 绘制顶部信息栏 info_height = 60 cv2.rectangle(frame, (0, 0), (width, info_height), (0, 0, 0), -1) # 显示FPS fps_text = f"FPS: {self.current_fps}" cv2.putText(frame, fps_text, (10, 25), config.FONT, 0.6, (0, 255, 0), 2) # 显示人员计数 person_text = f"Persons: {person_count}" cv2.putText(frame, person_text, (150, 25), config.FONT, 0.6, (0, 255, 255), 2) # 显示模型信息 model_text = self.detector.get_model_info() cv2.putText(frame, model_text, (10, 45), config.FONT, 0.5, (255, 255, 255), 1) # 显示操作提示 help_text = "Press 'q' to quit | 'c' to calibrate | 'r' to reset | 'm' to open map" text_size = cv2.getTextSize(help_text, config.FONT, 0.5, 1)[0] cv2.putText(frame, help_text, (width - text_size[0] - 10, 25), config.FONT, 0.5, (255, 255, 0), 1) # 显示地图状态 if self.map_manager: map_status = "Map: ON" cv2.putText(frame, map_status, (10, height - 10), config.FONT, 0.5, (0, 255, 255), 1) return frame def calibrate_distance(self, detections): """距离校准模式""" if len(detections) == 0: print("未检测到人体，无法校准") return print("\n=== 距离校准模式 ===") print("请确保画面中有一个人，并输入该人距离摄像头的真实距离") try: real_distance = float(input("请输入真实距离（厘米）: ")) # 使用第一个检测到的人进行校准 detection = detections[0] x1, y1, x2, y2, conf = detection bbox_height = y2 - y1 # 更新参考参数 config.REFERENCE_DISTANCE = real_distance config.REFERENCE_HEIGHT_PIXELS = bbox_height # 重新初始化距离计算器 self.distance_calculator = DistanceCalculator() print(f"校准完成！") print(f"参考距离: {real_distance}cm") print(f"参考像素高度: {bbox_height}px") except ValueError: print("输入无效，校准取消") except Exception as e: print(f"校准失败: {e}") def process_frame(self, frame): """处理单帧图像""" # 检测人体 detections = self.detector.detect_persons(frame) # 计算距离并更新地图位置 distances = [] if self.map_manager: self.map_manager.clear_persons() for i, detection in enumerate(detections): bbox = detection[:4] # [x1, y1, x2, y2] x1, y1, x2, y2 = bbox distance = self.distance_calculator.get_distance(bbox) distance_str = self.distance_calculator.format_distance(distance) distances.append(distance_str) # 更新地图上的人员位置 if self.map_manager: # 计算人体中心点 center_x = (x1 + x2) / 2 center_y = (y1 + y2) / 2 # 将距离从厘米转换为米 distance_meters = distance / 100.0 # 添加到地图 self.map_manager.add_person_position( center_x, center_y, distance_meters, frame.shape[1], frame.shape[0], # width, height f"P{i+1}" ) # 绘制检测结果 frame = self.detector.draw_detections(frame, detections, distances) # 绘制信息面板 frame = self.draw_info_panel(frame, len(detections)) # 计算FPS self.calculate_fps() return frame, detections def run(self): """运行主程序""" try: print("正在初始化...") self.initialize_camera() print("系统启动成功!") print("操作说明:") print(" - 按 'q' 键退出程序") print(" - 按 'c' 键进入距离校准模式") print(" - 按 'r' 键重置为默认参数") print(" - 按 's' 键保存当前帧") if self.map_manager: print(" - 按 'm' 键打开地图显示") print(" - 按 'h' 键设置摄像头朝向") print("\n开始实时检测...") frame_count = 0 while True: ret, frame = self.cap.read() if not ret: print("无法读取摄像头画面") break # 处理帧 processed_frame, detections = self.process_frame(frame) # 显示结果 cv2.imshow('Real-time Person Distance Detection', processed_frame) # 处理按键 key = cv2.waitKey(1) & 0xFF if key == ord('q'): print("用户退出程序") break elif key == ord('c'): # 校准模式 self.calibrate_distance(detections) elif key == ord('r'): # 重置参数 print("重置为默认参数") self.distance_calculator = DistanceCalculator() elif key == ord('s'): # 保存当前帧 filename = f"capture_{int(time.time())}.jpg" cv2.imwrite(filename, processed_frame) print(f"已保存截图: {filename}") elif key == ord('m') and self.map_manager: # 打开地图显示 print("正在打开地图...") self.map_manager.open_map() elif key == ord('h') and self.map_manager: # 设置摄像头朝向 try: heading = float(input("请输入摄像头朝向角度 (0-360°, 0为正北): ")) if 0 <= heading <= 360: self.map_manager.update_camera_heading(heading) else: print("角度必须在0-360度之间") except ValueError: print("输入无效") frame_count += 1 except KeyboardInterrupt: print("\n程序被用户中断") except Exception as e: print(f"程序运行出错: {e}") finally: self.cleanup() def cleanup(self): """清理资源""" if self.cap: self.cap.release() cv2.destroyAllWindows() print("资源已清理，程序结束") def main(): """主函数""" print("=" * 50) print("实时人体距离检测系统") print("=" * 50) detector = RealTimePersonDistanceDetector() detector.run() if __name__ == "__main__": main()