[C++]基于C++opencv结合vibe和sort tracker实现高空抛物实时检测

#define _CRT_SECURE_NO_WARNINGS
#include "tracker.hpp"
#include "trajectory.hpp"
#include "utils.hpp"
#include "vibe_sequential.hpp"
#include <array>
#include <chrono>
#include <cmath>
#include <cstddef>
#include <cstdio>
#include <cstdlib>
#include <memory>
#include <opencv2/core.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <stdexcept>
#include <string>
#include <string_view>
#include <thread>
using namespace std;
using namespace cv;
int main(int argc, char* argv[]) {
   

  
    int maxNumBlobs = 64;
    VideoCapture capture("test.mp4");
    if (!capture.isOpened())
        return -1;
    double fps = capture.get(cv::CAP_PROP_FPS);          // 帧率
    int width = capture.get(cv::CAP_PROP_FRAME_WIDTH);   // 视频帧宽度
    int height = capture.get(cv::CAP_PROP_FRAME_HEIGHT); // 视频帧高度
      // Create vibe algorithm instance
    auto vibe = std::make_unique<ViBeSequential>(height, width, 14, 20, 2, 5);
    // Create tracker instance
    auto tracker = std::make_unique<SortTracker>(3, 3);

    auto detections = std::vector<cv::Rect2f>(8);
    cv::Mat fgMask(height, width, CV_8U);
    cv::Mat updateMask(height, width, CV_8U);
    cv::Mat fgBlobLabels(height, width, CV_32S);
    cv::Mat fgBlobCentroids(64, 2, CV_64F);
    cv::Mat fgBlobStats(64, 5, CV_32S);

    // Prepare structure elements for morphological filtering
    cv::Mat se3x3 = cv::getStructuringElement(cv::MORPH_ELLIPSE, { 3, 3 });
    cv::Mat se5x5 = cv::getStructuringElement(cv::MORPH_ELLIPSE, { 5, 5 });
    cv::Mat se7x7 = cv::getStructuringElement(cv::MORPH_ELLIPSE, { 7, 7 });

    // Prepare runtime measurement
    auto tm = cv::TickMeter();



    while (true)
    {
        Mat frame;
        capture >> frame; // 从相机读取新一帧
        if (frame.empty())
        {
            break;
        }

        /* Segmentation and update. */
        tm.reset();
        tm.start();
        // Run background segmentation with ViBe
        vibe->segment(frame, fgMask);

        // Process update mask
        cv::morphologyEx(fgMask, updateMask, cv::MORPH_OPEN, se3x3);

        // Update ViBe
        vibe->update(frame, updateMask);

        // Post-processing on foreground mask
        cv::morphologyEx(fgMask, fgMask, cv::MORPH_OPEN, se3x3);
        cv::morphologyEx(fgMask, fgMask, cv::MORPH_CLOSE, se5x5);

        tm.stop();

        double vibeProcessTimeMs = tm.getTimeMilli();

        // Find all connected components
        int numFgBlobs = cv::connectedComponentsWithStats(
            fgMask, fgBlobLabels, fgBlobStats, fgBlobCentroids);

        if (numFgBlobs > maxNumBlobs) {
            // Too many blobs, consider this frame invalid

            tracker->clear();
            continue;
        }

        detections.clear();
        for (int i = 1; i < numFgBlobs; i++) {
            auto* blobStat = fgBlobStats.ptr<int>(i);

            int x = blobStat[cv::CC_STAT_LEFT] - 6;
            int y = blobStat[cv::CC_STAT_TOP] - 6;
            int w = blobStat[cv::CC_STAT_WIDTH] + 12;
            int h = blobStat[cv::CC_STAT_HEIGHT] + 12;
            // int a = blobStat[cv::CC_STAT_AREA];

            // Add new bbox
            detections.emplace_back(x, y, w, h);

            // auto color = colors.row(i % colors.rows);
            cv::rectangle(frame, { x, y, w, h }, { 255, 50, 0 }, 1);
        }

        tm.reset();
        tm.start();

        // Update tracker with newly detected bboxes
        tracker->update(detections, frame);

        tm.stop();
        double trackingTimeMs = tm.getTimeMilli();

        std::array<char, 64> str;
        std::sprintf(str.data(),
            "[PROCESS TIME] ViBe: %.2f ms, Tracking: %.2f",
            vibeProcessTimeMs,
            trackingTimeMs);

        // Draw process time measurement result on current frame
        cv::putText(frame,
            str.data(),
            { 12, 30 },
            cv::FONT_HERSHEY_SIMPLEX,
            0.5,
            { 0, 0, 255 },
            1,
            cv::LINE_AA);


        cv::imshow("frame", frame);
        cv::imshow("fgmask", fgMask);
        cv::imshow("update mask", updateMask);

        if (char(waitKey(2)) == 'q')
        {

            break;
        }
    }
    
    capture.release();
    cv::destroyAllWindows();


}