You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
261 lines
9.7 KiB
261 lines
9.7 KiB
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() |