opencv实现车辆速度检测.rar

#include <iostream> #include <sstream> #include <string.h> #include <stdio.h> #include <opencv2/opencv.hpp> #include <opencv2/core/core.hpp> #include <opencv2/imgproc/imgproc.hpp> #include <opencv2/video/video.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/objdetect/objdetect.hpp> #include <opencv2/video/tracking.hpp> #include <cmath> #include <vector> #include <typeinfo> using namespace std; using namespace cv; double get_speed(cv::Mat& frame, vector<Point>& contour, Point2f center, float radius, vector<Point2f> prevContourCenters, double fps) { int meters = 30; int maxSpeed = 100; if (center.x > 5 && center.x < 200) { for (size_t i = 0; i < prevContourCenters.size(); i++) { if (prevContourCenters[i].x < center.x) { double diff = center.x - prevContourCenters[i].x; cv::Point x, y; int fontFace = 3; double fontScale = 0.5; int thickness = 1.8; Point textOrg(center.x - 20, center.y - radius - 5); String str2 = " km/h"; double speed = diff * fps / 300 * meters*3.6; if (speed > 100) speed = 101; std::stringstream strSpeed; strSpeed << speed; if (speed > maxSpeed) { putText(frame, strSpeed.str() + str2, textOrg, fontFace, fontScale, Scalar(0, 255, 0), thickness, 5); imwrite("C:/Users/it/Desktop/第九届软件杯大赛A组赛题测试视频数据/testopencv42.jpg", frame); } else { putText(frame, strSpeed.str() + str2, textOrg, fontFace, fontScale, Scalar(0, 255, 0), thickness, 5); } return speed; } } } }; int main() { int count; double area, ar; Mat frame, fore, img, prevImg, temp, gray, vehicle_ROI, img_temp; VideoCapture cap("C:/Users/it/Desktop/第九届软件杯大赛A组赛题测试视频数据/video-02.mp4"); //BackgroundSubtractorMOG2 bg(500, 25, false); Ptr<BackgroundSubtractorMOG2> bg = createBackgroundSubtractorMOG2(500, 25, false); vector<vector<Point> > contours; vector<Point2f> prevContoursCenters; vector<Point2f> tempContoursCenters; vector<Rect> cars; namedWindow("Frame"); cap >> img_temp; cvtColor(img_temp, gray, COLOR_BGR2GRAY); gray.convertTo(temp, CV_8U); bilateralFilter(temp, prevImg, 5, 20, 20); // start and end times time_t start, end; // fps calculated using number of frames / seconds double fps; // frame counter int counter = 0; // floating point seconds elapsed since start double sec; // start the clock time(&start); while (true) { count = 0; cap >> frame; cvtColor(frame, gray, COLOR_BGR2GRAY); gray.convertTo(temp, CV_8U); bilateralFilter(temp, img, 5, 20, 20); //bg.operator()(img, fore); bg->apply(img, fore); erode(fore, fore, Mat()); dilate(fore, fore, Mat()); //findContours(fore, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE); findContours(fore, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE); vector<vector<Point> > contours_poly(contours.size()); vector<Rect> boundRect(contours.size()); vector<Point2f> center(contours.size()); vector<float> radius(contours.size()); tempContoursCenters.clear(); time(&end); // calculate current FPS ++counter; sec = difftime(end, start); fps = counter / sec; for (size_t i = 0; i < contours.size(); i++) { approxPolyDP(Mat(contours[i]), contours_poly[i], 10, true); boundRect[i] = boundingRect(Mat(contours_poly[i])); vehicle_ROI = img(boundRect[i]); area = contourArea(contours[i], false); ar = vehicle_ROI.cols / vehicle_ROI.rows; if (area > 450.0 && ar > 0.8) { minEnclosingCircle((Mat)contours_poly[i], center[i], radius[i]); rectangle(frame, boundRect[i].tl(), boundRect[i].br(), Scalar(0, 255, 0), 1, 8, 0); tempContoursCenters.push_back(center[i]); get_speed(frame, contours[i], center[i], radius[i], prevContoursCenters, fps); count = count + 1; } } stringstream ss; ss << count; string s = ss.str(); int fontFace = FONT_HERSHEY_SCRIPT_SIMPLEX; double fontScale = 1; int thickness = 3; cv::Point textOrg(10, 110); cv::putText(frame, s, textOrg, fontFace, fontScale, Scalar(255, 255, 255), thickness, 5); int win_size = 10; int maxCorners = 200; double qualityLevel = 0.5; double minDistance = 1; int blockSize = 3; double k = 0.04; vector<Point2f> img_corners; img_corners.reserve(maxCorners); vector<Point2f> prevImg_corners; prevImg_corners.reserve(maxCorners); goodFeaturesToTrack(img, img_corners, maxCorners, qualityLevel, minDistance, Mat(), blockSize, true); cornerSubPix(img, img_corners, Size(win_size, win_size), Size(-1, -1), //TermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03)); TermCriteria(1 | 2, 20, 0.03)); vector<uchar> features_found; features_found.reserve(maxCorners); vector<float> feature_errors; feature_errors.reserve(maxCorners); calcOpticalFlowPyrLK(img, prevImg, img_corners, prevImg_corners, features_found, feature_errors, Size(win_size, win_size), 3, TermCriteria(1 | 2, 20, 0.3), 0, k); // for( int i=0; i < features_found.size(); i++ ){ // Point2f p0( ceil( img_corners[i].x ), ceil( img_corners[i].y ) ); // Point2f p1( ceil( prevImg_corners[i].x ), ceil( prevImg_corners[i].y ) ); // line( frame, p0, p1, CV_RGB(255,0,0), 5 ); // } prevImg = img; prevContoursCenters.clear(); prevContoursCenters = tempContoursCenters; imshow("Frame", frame); if (waitKey(5) >= 0) break; } }