[C++]使用yolov11的onnx模型结合opencv和bytetrack实现目标追踪

#include <iostream>
#include<opencv2/opencv.hpp>

#include<math.h>
#include "yolov11.h"
#include<time.h>
#include <math.h>
#include <time.h>
#include <vector>
#include <chrono>
#include <float.h>
#include <stdio.h>
#include "BYTETracker.h"

using namespace std;
using namespace cv;
using namespace dnn;



int main() {

	string detect_model_path = "./yolo11n.onnx";
	Yolov11 detector;
	detector.ReadModel(detect_model_path,"labels.txt",false);
	vector<Object> objects;
	cv::VideoCapture cap("D:\\car.mp4");
	int img_w = cap.get(CAP_PROP_FRAME_WIDTH);
	int img_h = cap.get(CAP_PROP_FRAME_HEIGHT);
	int fps = cap.get(CAP_PROP_FPS);
	long nFrame = static_cast<long>(cap.get(CAP_PROP_FRAME_COUNT));
	if (!cap.isOpened())
	{
		std::cout << "open capture failured!" << std::endl;
		return -1;
	}
	Mat frame;
	BYTETracker tracker(fps, 30);
	int num_frames = 0;
	int keyvalue = 0;
    int total_ms = 1;
	while (true)
	{
		cap.read(frame);
		if (frame.empty())
		{
			std::cout << "read to end" << std::endl;
			break;
		}
		num_frames++;
		auto start = chrono::system_clock::now();
		objects.clear();
		detector.Detect(frame, objects);
       vector<STrack> output_stracks = tracker.update(objects);
		auto end = chrono::system_clock::now();
		total_ms = total_ms + chrono::duration_cast<chrono::microseconds>(end - start).count();
		for (int i = 0; i < output_stracks.size(); i++)
		{
			vector<float> tlwh = output_stracks[i].tlwh;
			bool vertical = tlwh[2] / tlwh[3] > 1.6;
			if (tlwh[2] * tlwh[3] > 20 && !vertical)
			{
				Scalar s = tracker.get_color(output_stracks[i].track_id);
				putText(frame, format("%d", output_stracks[i].track_id), Point(tlwh[0], tlwh[1] - 5),
						0, 0.6, Scalar(0, 0, 255), 2, LINE_AA);
				rectangle(frame, Rect(tlwh[0], tlwh[1], tlwh[2], tlwh[3]), s, 2);
			}
		}
		putText(frame, format("frame: %d fps: %d num: %d", num_frames, num_frames * 1000000 / total_ms, (int)output_stracks.size()),
				Point(0, 30), 0, 0.6, Scalar(0, 0, 255), 2, LINE_AA);

		imshow("demo", frame);
		keyvalue = waitKey(1);
		if (keyvalue == 113 || keyvalue == 81)
		{
			break;
		}

	}
	cap.release();

}