{"id":650,"date":"2026-06-11T13:42:30","date_gmt":"2026-06-11T05:42:30","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/traffic-density-esp32cam-opencv-vehicle-count-intersection-farsi\/"},"modified":"2026-06-11T13:42:30","modified_gmt":"2026-06-11T05:42:30","slug":"traffic-density-esp32cam-opencv-vehicle-count-intersection-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/traffic-density-esp32cam-opencv-vehicle-count-intersection-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0633\u06cc\u0633\u062a\u0645 \u062a\u0631\u0627\u06a9\u0645 \u062a\u0631\u0627\u0641\u06cc\u06a9 \u0628\u0627 ESP32-CAM \u0648 OpenCV: \u0634\u0645\u0627\u0631\u0634 \u0645\u0627\u0634\u06cc\u0646 \u062f\u0631 \u062a\u0642\u0627\u0637\u0639 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nESP32-CAM OpenCV \u0634\u0645\u0627\u0631\u0634 \u062a\u0631\u0627\u0641\u06cc\u06a9 \u062a\u0642\u0627\u0637\u0639\n<\/div>\n
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\u0633\u06cc\u0633\u062a\u0645 \u0634\u0645\u0627\u0631\u0634 \u062a\u0631\u0627\u0641\u06cc\u06a9 \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u062f\u0631 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647\u060c \u06cc\u06a9 \u062f\u0648\u0631\u0628\u06cc\u0646 ESP32-CAM<\/strong> (\u0627\u0631\u0632\u0627\u0646\u060c WiFi\u060c \u062f\u0648\u0631\u0628\u06cc\u0646 OV2640) \u062a\u0635\u0648\u06cc\u0631 \u062a\u0642\u0627\u0637\u0639 \u0631\u0627 capture \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0628\u0647 Raspberry Pi \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0631\u0648\u06cc Raspberry Pi\u060c OpenCV<\/strong> \u0628\u0627 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 MOG2<\/strong> (Mixture of Gaussians Background Subtraction) \u067e\u06cc\u06a9\u0633\u0644\u200c\u0647\u0627\u06cc \u0645\u062a\u062d\u0631\u06a9 \u0631\u0627 \u0634\u0646\u0627\u0633\u0627\u06cc\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u0648\u0642\u062a\u06cc \u06cc\u06a9 \u0645\u0627\u0634\u06cc\u0646 \u0627\u0632 \u062e\u0637 \u0634\u0645\u0627\u0631\u0634 \u0639\u0628\u0648\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u0634\u0645\u0627\u0631\u0646\u062f\u0647 \u06cc\u06a9 \u0648\u0627\u062d\u062f \u0627\u0641\u0632\u0627\u06cc\u0634 \u0645\u06cc\u200c\u06cc\u0627\u0628\u062f. \u0627\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0628\u0647 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u0647\u0648\u0634\u0645\u0646\u062f \u0645\u062f\u06cc\u0631\u06cc\u062a \u062a\u0631\u0627\u0641\u06cc\u06a9 UGV\/AGV \u062f\u0631 \u0645\u062d\u06cc\u0637\u200c\u0647\u0627\u06cc \u0645\u0633\u062f\u0648\u062f \u06cc\u0627 \u0627\u0646\u0628\u0627\u0631 \u0645\u062a\u0635\u0644 \u0634\u0648\u062f \u2014 \u0645\u062b\u0644\u0627\u064b AGV \u0631\u0627 \u0645\u062a\u0648\u0642\u0641 \u06a9\u0646\u062f \u0648\u0642\u062a\u06cc \u062a\u0631\u0627\u0641\u06cc\u06a9 \u0633\u0646\u06af\u06cc\u0646 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u0633\u06cc\u0633\u062a\u0645 \u0634\u0645\u0627\u0631\u0634 \u0648\u0633\u06cc\u0644\u0647 \u0646\u0642\u0644\u06cc\u0647 \u0628\u0627 \u062f\u0648\u0631\u0628\u06cc\u0646 ESP32-CAM \u0648 OpenCV.<\/p>\n

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  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> ESP32-CAM \u2248 \u06f5 \u062f\u0644\u0627\u0631 + RPi<\/li>\n
  • \u062f\u0642\u062a:<\/strong> \u06f8\u06f5-\u06f9\u06f5% \u062f\u0631 \u0646\u0648\u0631 \u0631\u0648\u0632<\/li>\n
  • \u0644\u0627\u06af:<\/strong> CSV \u0628\u0627 timestamp<\/li>\n<\/ul>\n<\/div>\n

    \n\n\nFrame ESP32-CAM<\/text>\n\n\n\n\n\nCount Line<\/text>\n\n\nCAR<\/text>\n\n\n47<\/text>\n\u0648\u0633\u06cc\u0644\u0647 \u0627\u0645\u0631\u0648\u0632<\/text>\nOpenCV MOG2 \u2014 \u0634\u0645\u0627\u0631\u0634 \u0639\u0628\u0648\u0631 \u0627\u0632 \u062e\u0637 \u0622\u0628\u06cc<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f ESP32-CAM \u2014 \u0633\u0631\u0648\u0631 MJPEG<\/h2>\n
    \n#include \"esp_camera.h\"\n#include <WiFi.h>\n#include \"esp_http_server.h\"\n\nconst char* ssid = \"YourWiFi\";\nconst char* password = \"YourPass\";\n\n\/\/ Camera config \u0628\u0631\u0627\u06cc AI-Thinker ESP32-CAM:\ncamera_config_t config;\nconfig.ledc_channel = LEDC_CHANNEL_0;\nconfig.pin_d0 = 5; config.pin_d1 = 18; config.pin_d2 = 19;\nconfig.pin_d3 = 21; config.pin_d4 = 36; config.pin_d5 = 39;\nconfig.pin_d6 = 34; config.pin_d7 = 35;\nconfig.pin_xclk = 0; config.pin_pclk = 22;\nconfig.pin_vsync = 25; config.pin_href = 23;\nconfig.pin_sscb_sda = 26; config.pin_sscb_scl = 27;\nconfig.pin_reset = -1; config.xclk_freq_hz = 20000000;\nconfig.pixel_format = PIXFORMAT_JPEG;\nconfig.frame_size = FRAMESIZE_VGA;  \/\/ \u06f6\u06f4\u06f0\u00d7\u06f4\u06f8\u06f0\nconfig.jpeg_quality = 15;\nconfig.fb_count = 2;\n\n\/\/ \u0633\u0631\u0648\u0631 MJPEG \u0633\u0627\u062f\u0647 \u0631\u0627\u0647\u200c\u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u06cc\u200c\u0634\u0648\u062f\n\/\/ \u0631\u0648\u06cc http:\/\/[IP]:80\/stream \u0642\u0627\u0628\u0644 \u062f\u0633\u062a\u0631\u0633\n<\/code><\/pre>\n
    \u06a9\u062f Python OpenCV \u2014 \u0634\u0645\u0627\u0631\u0634 \u0645\u0627\u0634\u06cc\u0646<\/h2>\n
    \nimport cv2\nimport numpy as np\nimport urllib.request\nimport datetime, csv\n\nESP32_URL = \"http:\/\/192.168.1.105\/stream\"\nCOUNT_LINE_Y = 240   # \u0646\u0635\u0641 \u0627\u0631\u062a\u0641\u0627\u0639 \u06f4\u06f8\u06f0 = \u062e\u0637 \u0634\u0645\u0627\u0631\u0634\n\nfgbg = cv2.createBackgroundSubtractorMOG2(history=100, varThreshold=50)\ncount = 0\nprev_centers = []\nlog_file = open(\"traffic_log.csv\",\"w\",newline='')\nwriter = csv.writer(log_file)\nwriter.writerow([\"time\",\"count\"])\n\ncap = cv2.VideoCapture(ESP32_URL)\n\nwhile True:\n    ret, frame = cap.read()\n    if not ret: continue\n\n    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n    fgmask = fgbg.apply(gray)\n\n    # \u062d\u0630\u0641 \u0646\u0648\u06cc\u0632:\n    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE,(5,5))\n    fgmask = cv2.morphologyEx(fgmask, cv2.MORPH_CLOSE, kernel)\n\n    # \u067e\u06cc\u062f\u0627 \u06a9\u0631\u062f\u0646 Contour\u0647\u0627:\n    contours, _ = cv2.findContours(fgmask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)\n    for cnt in contours:\n        if cv2.contourArea(cnt) > 1500:\n            x,y,w,h = cv2.boundingRect(cnt)\n            cy = y + h\/\/2\n            if abs(cy - COUNT_LINE_Y) < 10:\n                count += 1\n                writer.writerow([datetime.datetime.now().isoformat(), count])\n                log_file.flush()\n\n    cv2.line(frame, (0,COUNT_LINE_Y), (640,COUNT_LINE_Y), (255,0,0), 2)\n    cv2.putText(frame, f\"Count: {count}\", (10,30),\n                cv2.FONT_HERSHEY_SIMPLEX, 1, (0,255,0), 2)\n    cv2.imshow(\"Traffic Counter\", frame)\n    if cv2.waitKey(1) == ord('q'): break\n\ncap.release()\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u0646\u0635\u0628 \u0648 \u062a\u0646\u0638\u06cc\u0645<\/h2>\n\n\n\n\n\n\n\n\n
    \u0628\u0631\u0631\u0633\u06cc<\/th>\n\u0631\u0648\u0634<\/th>\n<\/tr>\n<\/thead>\n
    ESP32-CAM \u0631\u0648\u06cc WiFi \u0648\u0635\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\nSerial Monitor IP \u0631\u0627 \u0646\u0634\u0627\u0646 \u062f\u0647\u062f<\/td>\n<\/tr>\n
    MJPEG Stream \u062f\u0631 \u0645\u0631\u0648\u0631\u06af\u0631 \u0628\u0627\u0632 \u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\nhttp:\/\/[IP]\/stream<\/td>\n<\/tr>\n
    MOG2 \u062f\u0631 \u0634\u0628\/\u0631\u0648\u0634\u0646\u0627\u06cc\u06cc \u06a9\u0645 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\nvarThreshold \u0631\u0627 \u06a9\u0645 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0634\u0645\u0627\u0631\u0634 \u062f\u0648\u062a\u0627\u06cc\u06cc (Double Counting) \u0646\u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\nCooldown Timer \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nESP32-CAM<\/text>\nMJPEG WiFi<\/text>\nOpenCV MOG2<\/text>\nPython<\/text>\n\u0634\u0645\u0627\u0631\u0634 \u0639\u0628\u0648\u0631<\/text>\nCSV \u0644\u0627\u06af<\/text>\nDashboard<\/text>\n\u0646\u0645\u0627\u06cc\u0634 \u0632\u0646\u062f\u0647<\/text>\nESP32-CAM \u2192 OpenCV MOG2 \u2192 \u0634\u0645\u0627\u0631\u0634 \u0645\u0627\u0634\u06cc\u0646 \u2192 \u0644\u0627\u06af CSV<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
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