263 lines
7.9 KiB
Python
263 lines
7.9 KiB
Python
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import cv2
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import depthai as dai
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import numpy as np
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import time
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import math
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# =========================
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# CONFIGURAÇÕES DO TESTE
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# =========================
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MIN_DEPTH_MM = 300 # ignora muito perto
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MAX_DEPTH_MM = 3000 # só olha até 3 m
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DANGER_DEPTH_MM = 1500 # abaixo disso marca perigo
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MIN_AREA_PX = 450 # área mínima do blob
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MAX_LOST_FRAMES = 10 # quantos frames mantém ID sem ver
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TRACK_MAX_DIST = 90 # distância máxima em pixels para associar ID
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ROI_TOP = 0.25 # começa em 25% da altura
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ROI_BOTTOM = 0.95 # termina em 95% da altura
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ROI_LEFT = 0.15 # ignora bordas
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ROI_RIGHT = 0.85
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# =========================
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# TRACKER SIMPLES POR CENTRO
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# =========================
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class SimpleBlobTracker:
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def __init__(self):
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self.next_id = 1
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self.tracks = {}
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def update(self, detections):
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# detections: lista de dicts com cx, cy, z_mm, bbox, area
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updated = []
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used_tracks = set()
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for det in detections:
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best_id = None
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best_dist = 999999
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for tid, tr in self.tracks.items():
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if tid in used_tracks:
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continue
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dx = det["cx"] - tr["cx"]
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dy = det["cy"] - tr["cy"]
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dz = (det["z_mm"] - tr["z_mm"]) / 30.0 # peso leve para profundidade
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dist = math.sqrt(dx * dx + dy * dy + dz * dz)
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if dist < best_dist:
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best_dist = dist
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best_id = tid
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if best_id is not None and best_dist < TRACK_MAX_DIST:
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tid = best_id
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used_tracks.add(tid)
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self.tracks[tid].update(det)
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self.tracks[tid]["lost"] = 0
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self.tracks[tid]["age"] += 1
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else:
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tid = self.next_id
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self.next_id += 1
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self.tracks[tid] = dict(det)
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self.tracks[tid]["lost"] = 0
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self.tracks[tid]["age"] = 1
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out = dict(self.tracks[tid])
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out["id"] = tid
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updated.append(out)
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# envelhece tracks não usados
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for tid in list(self.tracks.keys()):
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if tid not in used_tracks and all(d.get("id") != tid for d in updated):
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self.tracks[tid]["lost"] += 1
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if self.tracks[tid]["lost"] > MAX_LOST_FRAMES:
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del self.tracks[tid]
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return updated
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# =========================
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# PIPELINE OAK-D LITE
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# =========================
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pipeline = dai.Pipeline()
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# RGB
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cam_rgb = pipeline.create(dai.node.ColorCamera)
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cam_rgb.setPreviewSize(640, 400)
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cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
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cam_rgb.setInterleaved(False)
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cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
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cam_rgb.setFps(30)
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# Mono stereo
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mono_left = pipeline.create(dai.node.MonoCamera)
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mono_right = pipeline.create(dai.node.MonoCamera)
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mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
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mono_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
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mono_left.setBoardSocket(dai.CameraBoardSocket.CAM_B)
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mono_right.setBoardSocket(dai.CameraBoardSocket.CAM_C)
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# Depth
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stereo = pipeline.create(dai.node.StereoDepth)
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stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.DEFAULT)
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stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
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stereo.setSubpixel(True)
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stereo.setLeftRightCheck(True)
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mono_left.out.link(stereo.left)
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mono_right.out.link(stereo.right)
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# Outputs
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xout_rgb = pipeline.create(dai.node.XLinkOut)
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xout_depth = pipeline.create(dai.node.XLinkOut)
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xout_rgb.setStreamName("rgb")
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xout_depth.setStreamName("depth")
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cam_rgb.preview.link(xout_rgb.input)
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stereo.depth.link(xout_depth.input)
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# =========================
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# PROCESSAMENTO
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# =========================
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tracker = SimpleBlobTracker()
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with dai.Device(pipeline) as device:
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q_rgb = device.getOutputQueue("rgb", maxSize=4, blocking=False)
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q_depth = device.getOutputQueue("depth", maxSize=4, blocking=False)
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last = time.time()
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fps = 0
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while True:
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in_rgb = q_rgb.get()
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in_depth = q_depth.get()
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frame = in_rgb.getCvFrame()
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depth = in_depth.getFrame() # uint16 em mm
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h, w = frame.shape[:2]
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if depth.shape[:2] != (h, w):
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depth = cv2.resize(depth, (w, h), interpolation=cv2.INTER_NEAREST)
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now = time.time()
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fps = 0.9 * fps + 0.1 * (1 / max(now - last, 1e-6))
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last = now
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# ROI
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x1_roi = int(w * ROI_LEFT)
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x2_roi = int(w * ROI_RIGHT)
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y1_roi = int(h * ROI_TOP)
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y2_roi = int(h * ROI_BOTTOM)
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roi_depth = depth[y1_roi:y2_roi, x1_roi:x2_roi]
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# Máscara de pixels com profundidade válida/próxima
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mask = np.zeros_like(roi_depth, dtype=np.uint8)
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mask[(roi_depth > MIN_DEPTH_MM) & (roi_depth < MAX_DEPTH_MM)] = 255
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# Limpeza de ruído
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kernel = np.ones((5, 5), np.uint8)
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mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
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mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)
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contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
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detections = []
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for cnt in contours:
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area = cv2.contourArea(cnt)
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if area < MIN_AREA_PX:
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continue
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x, y, bw, bh = cv2.boundingRect(cnt)
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# Coordenadas globais
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gx = x + x1_roi
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gy = y + y1_roi
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gcx = gx + bw // 2
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gcy = gy + bh // 2
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blob_depth = roi_depth[y:y + bh, x:x + bw]
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valid = blob_depth[(blob_depth > MIN_DEPTH_MM) & (blob_depth < MAX_DEPTH_MM)]
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if len(valid) < 50:
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continue
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z_mm = float(np.median(valid))
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detections.append({
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"bbox": (gx, gy, gx + bw, gy + bh),
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"cx": gcx,
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"cy": gcy,
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"z_mm": z_mm,
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"area": area
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})
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tracked = tracker.update(detections)
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perigo = False
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# Desenha ROI
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cv2.rectangle(frame, (x1_roi, y1_roi), (x2_roi, y2_roi), (255, 255, 0), 1)
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for obj in tracked:
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x1, y1, x2, y2 = obj["bbox"]
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z_m = obj["z_mm"] / 1000.0
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center_percent = obj["cx"] / w * 100.0
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danger = obj["z_mm"] < DANGER_DEPTH_MM
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if danger:
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perigo = True
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color = (0, 0, 255) if danger else (0, 255, 0)
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texto = (
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f"ID {obj['id']} | Z={z_m:.2f}m | "
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f"X={center_percent:.0f}% | area={int(obj['area'])}"
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)
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cv2.rectangle(frame, (x1, y1), (x2, y2), color, 2)
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cv2.circle(frame, (obj["cx"], obj["cy"]), 4, (0, 255, 255), -1)
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cv2.putText(frame, texto, (x1, max(20, y1 - 8)),
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cv2.FONT_HERSHEY_SIMPLEX, 0.45, color, 1)
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cv2.putText(frame, f"FPS: {fps:.1f}", (10, 25),
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cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 255), 2)
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cv2.putText(frame, f"Blobs: {len(tracked)}", (10, 52),
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cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 1)
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if perigo:
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cv2.putText(frame, "PERIGO: obstaculo proximo - PARAR", (10, 82),
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cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 0, 255), 2)
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# Preview depth colorido
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depth_vis = depth.copy()
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depth_vis[depth_vis == 0] = MAX_DEPTH_MM
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depth_vis = np.clip(depth_vis, MIN_DEPTH_MM, MAX_DEPTH_MM)
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depth_vis = ((MAX_DEPTH_MM - depth_vis) / (MAX_DEPTH_MM - MIN_DEPTH_MM) * 255).astype(np.uint8)
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depth_vis = cv2.applyColorMap(depth_vis, cv2.COLORMAP_JET)
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cv2.imshow("OAK-D Lite - Depth Blob Tracker", frame)
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cv2.imshow("Depth view", depth_vis)
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cv2.imshow("Mask blobs", mask)
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key = cv2.waitKey(1)
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if key == ord("q") or key == 27:
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break
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cv2.destroyAllWindows()
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