根据距离标框完成

VideoProsessing/src/main.cpp

@@ -1,7 +1,7 @@
 /*
 本程序用于视频分流
 1.推流摄像头画面,使用UDP原生协议进行推流,交由YOLO模型进行处理
-2.接收YOLO传来的坐标,深度,警报等级等等数据
+2.接收YOLO传来的坐标和度数据
 3.根据获取到的数据绘制边框和相应数据
 4.将绘制完毕的视频流继续推流至RTSP服务器用于输出
 */
@@ -16,7 +16,10 @@
 #include <condition_variable>
 #include <atomic>
 
+#include "Netra.hpp"
+
 using namespace std;
+using namespace QCL;
 using namespace cv;
 using namespace chrono_literals;
 
@@ -26,6 +29,7 @@ Mat handleFrame; // 存放处理后的帧
 const string mqtt_url = "tcp://192.168.12.1:1883";
 const string clientId = "video_subData";
 const string Topic = "/video/PersonData";
+const string filePath = "../../InitAuth/conf/.env"; // 配置保存路径
 const int Qos = 0;
 mqtt::async_client client(mqtt_url, clientId);
 
@@ -36,6 +40,14 @@ struct Dection
     double distance;
 };
 
+// 保存报警距离
+struct dangerDistance
+{
+    int danger;
+    int warn;
+    int safe;
+} dis;
+
 mutex detMutex;                // 保护latestDection的互斥锁
 vector<Dection> latestDection; // 保存最新接收到的检测结果
 
@@ -60,6 +72,8 @@ void mainLoop(VideoCapture &cap, FILE *pipe);
 void getMsgCallback(mqtt::const_message_ptr msg);
 // 绘制矩形方框和深度信息
 void drawRect(int x, int y, int w, int h, double distance);
+// 获取报警距离
+bool GetDistance();
 
 int main()
 {
@@ -88,11 +102,53 @@ int main()
     return 0;
 }
 
+// 获取报警距离
+bool GetDistance()
+{
+    // 获取距离信息
+    ReadFile rf(filePath);
+    if (rf.Open() == false)
+    {
+        cerr << "文件打开失败" << endl;
+        return false;
+    }
+
+    auto lines = rf.ReadLines();
+    string str;
+    for (auto &line : lines)
+    {
+        if (line.find("NEAR_THRESHOLD=") != string::npos)
+            dis.danger = stoi(line.substr(sizeof("NEAR_THRESHOLD=") - 1));
+        else if (line.find("MID_THRESHOLD=") != string::npos)
+            dis.warn = stoi(line.substr(sizeof("MID_THRESHOLD=") - 1));
+        else if (line.find("MAX_DISTANCE=") != string::npos)
+            dis.safe = stoi(line.substr(sizeof("MAX_DISTANCE=") - 1));
+    }
+
+    rf.Close();
+
+    return true;
+}
+
 // 绘制矩形方框和深度信息
 void drawRect(int x, int y, int w, int h, double distance)
 {
     Rect r(x, y, w, h);
-    rectangle(handleFrame, r, Scalar(0, 255, 0), 2);
+    Scalar sca;
+    if (GetDistance() == false)
+    {
+        sca = Scalar(0, 0, 0);
+    }
+
+    if (distance <= dis.danger)
+        sca = Scalar(0, 0, 255);
+    else if (distance <= dis.warn)
+        sca = Scalar(0, 255, 255);
+    else
+        sca = Scalar(0, 255, 0);
+
+    rectangle(handleFrame, r, sca, 2);
+    putText(handleFrame,to_string(distance),Point(x,y),FONT_HERSHEY_SIMPLEX,0.35,Scalar(0,0,0));
 }
 
 // mqtt初始化

VideoProsessing/src/makefile

@@ -3,8 +3,11 @@ all: video
 PKG_CFLAGS := $(shell pkg-config --cflags opencv4)
 PKG_LIBS   := $(shell pkg-config --libs opencv4)
 
+Lib=/home/orangepi/RKApp/VideoProsessing/NetraLib/src/Netra.cpp
+Dir=/home/orangepi/RKApp/VideoProsessing/NetraLib/include
+
 video: main.cpp
-	g++ -g -o video main.cpp $(PKG_CFLAGS) $(PKG_LIBS) -lpaho-mqttpp3 -lpaho-mqtt3a -lpthread
+	g++ -g -o video main.cpp $(Lib) -I$(Dir) $(PKG_CFLAGS) $(PKG_LIBS) -lpaho-mqttpp3 -lpaho-mqtt3a -lpthread
 	mv video ../bin/
 
 clean: