海康卫视摄像头yolo检测，转换gps，用高德api借口显示点

直接上代码和效果图，因为用了高德的api接口，无法达到实时性

import sys
import argparse
from yolo_xie import YOLO, detect_video
from PIL import Image
import cv2
import os
import time
import numpy as np
from datetime import datetime
import math
import glob
import urllib.request
import urllib
from urllib.parse import urlparse
import cv2
import jsontimenow = time.strftime('%Y%m%d_%H%M%S')
import socket
os.environ["CUDA_VISIBLE_DEVICES"] = "3"#  python yolo_video_xie.py --input pathimport threadingclass RTSCapture(cv2.VideoCapture):"""Real Time Streaming Capture."""_cur_frame = None_reading = False@staticmethoddef create(url):"""这个类必须使用 RTSCapture.create 方法创建，请不要直接实例化"""rtscap = RTSCapture(url)rtscap.frame_receiver = threading.Thread(target=rtscap.recv_frame, daemon=True)if isinstance(url, str) and url.startswith(("rtsp://", "rtmp://")):rtscap._reading = Truereturn rtscapdef isStarted(self):"""替代 VideoCapture.isOpened() """ok = self.isOpened()if ok and self._reading:ok = self.frame_receiver.is_alive()return okdef recv_frame(self):"""子线程读取最新视频帧方法"""while self._reading and self.isOpened():ok, frame = self.read()if not ok: breakself._cur_frame = frameself._reading = Falsedef read2(self):"""读取最新视频帧返回结果格式与 VideoCapture.read() 一样"""frame = self._cur_frameself._cur_frame = Nonereturn frame is not None, framedef start_read(self):"""启动子线程读取视频帧"""self.frame_receiver.start()self.read_latest_frame = self.read2 if self._reading else self.readdef stop_read(self):"""退出子线程方法"""self._reading = Falseif self.frame_receiver.is_alive(): self.frame_receiver.join()def detect_img(yolo):# 这个是调用USB摄像头的# fourcc = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')# cap = cv2.VideoCapture(0)# cap.set(6,fourcc)# 调用网络摄像头，有2个ip 180是左边窗口的 175是右边窗口的# 这种调用方法会有卡顿# url = "rtsp://admin:lingtan666@192.168.0.176"# url1 = 'rtsp://admin:lingtan666@192.168.0.176:554/h264/ch1/main/av_stream'#cap = cv2.VideoCapture(url)# 相机参数m_nScreenResolution_l = 1920;m_nScreenResolution_h = 1080;m_dScreenResolution_angle = 72 / 1920m_dPlane_kappa = 0;m_dPlane_phi = 0;m_dPlane_omega = 0;m_dFixed_elevation = 5.5;m_dTarget_elevation = 0;# 32.3927090000,119.4515720000 左边m_dFixed_longitude = 119.4515720000;m_dFixed_latitude = 32.3927090000;m_dCamera_kappa = 199;m_dCamera_phi = 17;PI = math.piimg2 = cv2.imread('/home/huu/Desktop/webwxgetmsgimg.jpeg')rtscap = RTSCapture.create('rtsp://admin:lingtan666@192.168.0.180:554/h264/ch1/main/av_stream')rtscap.start_read()k = 0while rtscap.isStarted():ok, frame = rtscap.read_latest_frame()if not ok:# print('not ok 11111111111111111111111111')if cv2.waitKey(100) & 0xFF == ord('q'): breakcontinuesave_img_path = '/data/drone_detect/keras-yolo3_original/8.13/test/'cv2_img_path = '/data/drone_detect/keras-yolo3_original/8.13/cv2_img/'i_str = str(k).zfill(6) + '.jpg'k += 1# RGB通道转换frame = cv2.cvtColor(frame,cv2.COLOR_RGB2BGR)# frame_crop = frame[799:1471,1566:2334,]# frame_crop = frame[800:1400,1300:2400,]# 简而言之，就是实现array到image的转换image = Image.fromarray(frame)# image = Image.open(cv2_img_path + i_str)a = datetime.now()r_image,person = yolo.detect_image(image, image_name = i_str)# print('person = ', person)if len(person) == 0 :img1 = cv2.cvtColor(np.asarray(r_image), cv2.COLOR_RGB2BGR)img1 = cv2.resize(img1, (960, 640))# img2 = cv2.imread('/home/huu/Desktop/webwxgetmsgimg.jpeg')hebin_img = np.hstack((img1, img2))cv2.namedWindow('1', cv2.WINDOW_NORMAL)cv2.imshow('1', hebin_img)cv2.waitKey(1)else:url = 'https://restapi.amap.com/v3/staticmap?zoom=17&size=960*640&markers=-1,'for j in range(len(person)):m_nPic_x = person[j][0]m_nPic_y = person[j][1]# print(m_nPic_x,m_nPic_y)C30 = (m_nPic_x - m_nScreenResolution_l / 2) * m_dScreenResolution_angle + m_dCamera_kappaC31 = m_dCamera_phi - ((m_nScreenResolution_h / 2) - m_nPic_y) * m_dScreenResolution_angleC32 = math.sqrt((pow(C30, 2) + pow(C31, 2)))C34 = math.atan(C31 / C30) + (PI * m_dPlane_omega / 180)C36 = C32 * math.sin(C34) * abs(C30) / C30C37 = C32 * math.cos(C34) * abs(C30) / C30 + m_dPlane_kappaC38 = C36 - m_dPlane_phiC39 = (m_dFixed_elevation - m_dTarget_elevation) / math.tan(PI * C38 / 180)C41 = C39 * math.sin(PI * C37 / 180)longitude = m_dFixed_longitude + C41 / 111000 / math.cos(PI * m_dFixed_latitude / 180)C40 = C39 * math.cos(PI * C37 / 180)latitude = m_dFixed_latitude + C40 / 111000# print(str(latitude)+','+str(longitude),C30,C31,C32,C34,C36,C37,C38,C40,C41)# fgps.write(cor.strip('\n').split(' ')[0] + ',' + str(longitude) + ',' + str(latitude) + '\n')if j != len(person) - 1:url += 'https://ico.ooopic.com/ajax/iconpng/?id=215808.png,0:' \+ str(longitude) + ',' + str(latitude) + '|-1,'continueelse:# print('进来了！！！')url += 'https://ico.ooopic.com/ajax/iconpng/?id=215808.png,0:' \+ str(longitude) + ',' + str(latitude) \+ '&key=d78d2093105d0cd246e8214d6b7ed34b'print('url = ', url)# 抓取网络资源f = urllib.request.urlopen(url)# print(f)# urlparse模块主要是把url拆分为6部分，并返回元组。result = urlparse(url)# print(result)# 将URL表示的网络对象复制到本地文件。如果URL指向本地文件，则对象将不会被复制，除非提供文件名。urllib.request.urlretrieve(url, "stmap1.jpg")# 用CV读图片img3 = cv2.imread('stmap1.jpg')img1 = cv2.cvtColor(np.asarray(r_image), cv2.COLOR_RGB2BGR)img1 = cv2.resize(img1, (960, 640))hebin_img = np.hstack((img1, img3))cv2.namedWindow('1',cv2.WINDOW_NORMAL)cv2.imshow('1', hebin_img)cv2.waitKey(1)# r_image.save(save_img_path + i_str)# 把pil格式转换成可以给cv2输出的格式# img = cv2.cvtColor(np.asarray(r_image), cv2.COLOR_RGB2BGR)# cv2.imshow('1', img)# cv2.waitKey(1)b = datetime.now()print("检测时间：", (b - a))# cv2.imshow('1',r_image)# cv2.waitKey(0)# r_image.save(save_img_path + i_str)# r_image.show()# show_image = cv2.imread(save_img_path + i_str)# cv2.imshow('1',r_image)# cv2.waitKey(1)# label = []# for i in range(len(person)):#     label.append(person[i][1])# for j in range(len(rubbish)):#     label.append(rubbish[j][1])# print(person,'1111111111111111111111')# print(rubbish,'2222222222222222222222')#instr = str(5).encode()#client.send(instr)FLAGS = Noneif __name__ == '__main__':# class YOLO defines the default value, so suppress any default hereparser = argparse.ArgumentParser(argument_default=argparse.SUPPRESS)'''Command line options'''parser.add_argument('--model', type=str,help='path to model weight file, default ' + YOLO.get_defaults("model_path"))parser.add_argument('--anchors', type=str,help='path to anchor definitions, default ' + YOLO.get_defaults("anchors_path"))parser.add_argument('--classes', type=str,help='path to class definitions, default ' + YOLO.get_defaults("classes_path"))parser.add_argument('--gpu_num', type=int,help='Number of GPU to use, default ' + str(YOLO.get_defaults("gpu_num")))parser.add_argument('--image', default=False, action="store_true",help='Image detection mode, will ignore all positional arguments')'''Command line positional arguments -- for video detection mode'''parser.add_argument("--input", nargs='?', type=str,required=False,default='./path2your_video',help = "Video input path")parser.add_argument("--output", nargs='?', type=str, default="",help = "[Optional] Video output path")# client = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)# client.connect("/tmp/test.sock")FLAGS = parser.parse_args()if FLAGS.image:"""Image detection mode, disregard any remaining command line arguments"""print("Image detection mode")print("!!!!!!!!!!!!!!!!!!!!!!!!!!!!")if "input" in FLAGS:print(" Ignoring remaining command line arguments: " + FLAGS.input + "," + FLAGS.output)detect_img(YOLO(**vars(FLAGS)))elif "input" in FLAGS:detect_video(YOLO(**vars(FLAGS)), FLAGS.input, FLAGS.output)else:print("Must specify at least video_input_path.  See usage with --help.")

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