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update the codes.

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This commit is contained in:
Zhentao-Lin 2022-12-09 09:47:32 +08:00
parent 78a3f50241
commit f710fd6976
4 changed files with 525 additions and 231 deletions
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18
C/Sketches/Sketch_05.1_CameraWebServer/Sketch_05.1_CameraWebServer.ino
View File

@ -8,9 +8,12 @@
#include "esp_camera.h"
#include <WiFi.h>
// ===================
// Select camera model
// ===================
#define CAMERA_MODEL_WROVER_KIT // Has PSRAM
//#define CAMERA_MODEL_ESP_EYE // Has PSRAM
//#define CAMERA_MODEL_ESP32S3_EYE // Has PSRAM
//#define CAMERA_MODEL_M5STACK_PSRAM // Has PSRAM
//#define CAMERA_MODEL_M5STACK_V2_PSRAM // M5Camera version B Has PSRAM
//#define CAMERA_MODEL_M5STACK_WIDE // Has PSRAM
@ -18,6 +21,10 @@
//#define CAMERA_MODEL_M5STACK_UNITCAM // No PSRAM
//#define CAMERA_MODEL_AI_THINKER // Has PSRAM
//#define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM
// ** Espressif Internal Boards **
//#define CAMERA_MODEL_ESP32_CAM_BOARD
//#define CAMERA_MODEL_ESP32S2_CAM_BOARD
//#define CAMERA_MODEL_ESP32S3_CAM_LCD
#include "camera_pins.h"
@ -35,8 +42,6 @@ void setup() {
Serial.println();
config_init();
config.frame_size = FRAMESIZE_VGA;
config.jpeg_quality = 10;
// camera init
esp_err_t err = esp_camera_init(&config);
@ -46,7 +51,7 @@ void setup() {
}
sensor_t * s = esp_camera_sensor_get();
s->set_vflip(s, 1); //1-Upside down, 0-No operation
s->set_vflip(s, 0); //1-Upside down, 0-No operation
s->set_hmirror(s, 0); //1-Reverse left and right, 0-No operation
s->set_brightness(s, 1); //up the blightness just a bit
s->set_saturation(s, -1); //lower the saturation
@ -90,6 +95,11 @@ void config_init() {
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.pixel_format = PIXFORMAT_JPEG;
config.frame_size = FRAMESIZE_QVGA;
config.pixel_format = PIXFORMAT_JPEG; // for streaming
//config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.jpeg_quality = 12;
config.fb_count = 1;
}

639
C/Sketches/Sketch_05.1_CameraWebServer/app_httpd.cpp
View File

@ -17,7 +17,6 @@
#include "img_converters.h"
#include "fb_gfx.h"
#include "driver/ledc.h"
//#include "camera_index.h"
#include "sdkconfig.h"
#include "camera_index.h"
@ -29,14 +28,37 @@
static const char *TAG = "camera_httpd";
#endif
// Face Detection will not work on boards without (or with disabled) PSRAM
#ifdef BOARD_HAS_PSRAM
#define CONFIG_ESP_FACE_DETECT_ENABLED 1
// Face Recognition takes upward from 15 seconds per frame on chips other than ESP32S3
// Makes no sense to have it enabled for them
#if CONFIG_IDF_TARGET_ESP32S3
#define CONFIG_ESP_FACE_RECOGNITION_ENABLED 1
#else
#define CONFIG_ESP_FACE_RECOGNITION_ENABLED 0
#endif
#else
#define CONFIG_ESP_FACE_DETECT_ENABLED 0
#define CONFIG_ESP_FACE_RECOGNITION_ENABLED 0
#endif
#if CONFIG_ESP_FACE_DETECT_ENABLED
#include "fd_forward.h"
#include <vector>
#include "human_face_detect_msr01.hpp"
#include "human_face_detect_mnp01.hpp"
#define TWO_STAGE 1 /*<! 1: detect by two-stage which is more accurate but slower(with keypoints). */
/*<! 0: detect by one-stage which is less accurate but faster(without keypoints). */
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
#include "fr_forward.h"
#include "face_recognition_tool.hpp"
#include "face_recognition_112_v1_s16.hpp"
#include "face_recognition_112_v1_s8.hpp"
#define QUANT_TYPE 0 //if set to 1 => very large firmware, very slow, reboots when streaming...
#define ENROLL_CONFIRM_TIMES 5
#define FACE_ID_SAVE_NUMBER 7
#endif
@ -78,12 +100,24 @@ httpd_handle_t camera_httpd = NULL;
static int8_t detection_enabled = 0;
static mtmn_config_t mtmn_config = {0};
// #if TWO_STAGE
// static HumanFaceDetectMSR01 s1(0.1F, 0.5F, 10, 0.2F);
// static HumanFaceDetectMNP01 s2(0.5F, 0.3F, 5);
// #else
// static HumanFaceDetectMSR01 s1(0.3F, 0.5F, 10, 0.2F);
// #endif
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
static int8_t recognition_enabled = 0;
static int8_t is_enrolling = 0;
static face_id_list id_list = {0};
#if QUANT_TYPE
// S16 model
FaceRecognition112V1S16 recognizer;
#else
// S8 model
FaceRecognition112V1S8 recognizer;
#endif
#endif
#endif
@ -114,6 +148,7 @@ static ra_filter_t *ra_filter_init(ra_filter_t *filter, size_t sample_size)
return filter;
}
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
static int ra_filter_run(ra_filter_t *filter, int value)
{
if (!filter->values)
@ -131,21 +166,16 @@ static int ra_filter_run(ra_filter_t *filter, int value)
}
return filter->sum / filter->count;
}
#endif
#if CONFIG_ESP_FACE_DETECT_ENABLED
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
static void rgb_print(dl_matrix3du_t *image_matrix, uint32_t color, const char *str)
static void rgb_print(fb_data_t *fb, uint32_t color, const char *str)
{
fb_data_t fb;
fb.width = image_matrix->w;
fb.height = image_matrix->h;
fb.data = image_matrix->item;
fb.bytes_per_pixel = 3;
fb.format = FB_BGR888;
fb_gfx_print(&fb, (fb.width - (strlen(str) * 14)) / 2, 10, color, str);
fb_gfx_print(fb, (fb->width - (strlen(str) * 14)) / 2, 10, color, str);
}
static int rgb_printf(dl_matrix3du_t *image_matrix, uint32_t color, const char *format, ...)
static int rgb_printf(fb_data_t *fb, uint32_t color, const char *format, ...)
{
char loc_buf[64];
char *temp = loc_buf;
@ -166,7 +196,7 @@ static int rgb_printf(dl_matrix3du_t *image_matrix, uint32_t color, const char *
}
vsnprintf(temp, len + 1, format, arg);
va_end(arg);
rgb_print(image_matrix, color, temp);
rgb_print(fb, color, temp);
if (len > 64)
{
free(temp);
@ -174,9 +204,9 @@ static int rgb_printf(dl_matrix3du_t *image_matrix, uint32_t color, const char *
return len;
}
#endif
static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes, int face_id)
static void draw_face_boxes(fb_data_t *fb, std::list<dl::detect::result_t> *results, int face_id)
{
int x, y, w, h, i;
int x, y, w, h;
uint32_t color = FACE_COLOR_YELLOW;
if (face_id < 0)
{
@ -186,89 +216,64 @@ static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes, in
{
color = FACE_COLOR_GREEN;
}
fb_data_t fb;
fb.width = image_matrix->w;
fb.height = image_matrix->h;
fb.data = image_matrix->item;
fb.bytes_per_pixel = 3;
fb.format = FB_BGR888;
for (i = 0; i < boxes->len; i++)
if(fb->bytes_per_pixel == 2){
//color = ((color >> 8) & 0xF800) | ((color >> 3) & 0x07E0) | (color & 0x001F);
color = ((color >> 16) & 0x001F) | ((color >> 3) & 0x07E0) | ((color << 8) & 0xF800);
}
int i = 0;
for (std::list<dl::detect::result_t>::iterator prediction = results->begin(); prediction != results->end(); prediction++, i++)
{
// rectangle box
x = (int)boxes->box[i].box_p[0];
y = (int)boxes->box[i].box_p[1];
w = (int)boxes->box[i].box_p[2] - x + 1;
h = (int)boxes->box[i].box_p[3] - y + 1;
fb_gfx_drawFastHLine(&fb, x, y, w, color);
fb_gfx_drawFastHLine(&fb, x, y + h - 1, w, color);
fb_gfx_drawFastVLine(&fb, x, y, h, color);
fb_gfx_drawFastVLine(&fb, x + w - 1, y, h, color);
#if 0
// landmark
x = (int)prediction->box[0];
y = (int)prediction->box[1];
w = (int)prediction->box[2] - x + 1;
h = (int)prediction->box[3] - y + 1;
if((x + w) > fb->width){
w = fb->width - x;
}
if((y + h) > fb->height){
h = fb->height - y;
}
fb_gfx_drawFastHLine(fb, x, y, w, color);
fb_gfx_drawFastHLine(fb, x, y + h - 1, w, color);
fb_gfx_drawFastVLine(fb, x, y, h, color);
fb_gfx_drawFastVLine(fb, x + w - 1, y, h, color);
#if TWO_STAGE
// landmarks (left eye, mouth left, nose, right eye, mouth right)
int x0, y0, j;
for (j = 0; j < 10; j+=2) {
x0 = (int)boxes->landmark[i].landmark_p[j];
y0 = (int)boxes->landmark[i].landmark_p[j+1];
fb_gfx_fillRect(&fb, x0, y0, 3, 3, color);
x0 = (int)prediction->keypoint[j];
y0 = (int)prediction->keypoint[j+1];
fb_gfx_fillRect(fb, x0, y0, 3, 3, color);
}
#endif
}
}
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
static int run_face_recognition(dl_matrix3du_t *image_matrix, box_array_t *net_boxes)
static int run_face_recognition(fb_data_t *fb, std::list<dl::detect::result_t> *results)
{
dl_matrix3du_t *aligned_face = NULL;
int matched_id = 0;
std::vector<int> landmarks = results->front().keypoint;
int id = -1;
aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3);
if (!aligned_face)
{
ESP_LOGE(TAG, "Could not allocate face recognition buffer");
return matched_id;
}
if (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK)
{
if (is_enrolling == 1)
{
int8_t left_sample_face = enroll_face(&id_list, aligned_face);
Tensor<uint8_t> tensor;
tensor.set_element((uint8_t *)fb->data).set_shape({fb->height, fb->width, 3}).set_auto_free(false);
if (left_sample_face == (ENROLL_CONFIRM_TIMES - 1))
{
ESP_LOGD(TAG, "Enrolling Face ID: %d", id_list.tail);
}
ESP_LOGD(TAG, "Enrolling Face ID: %d sample %d", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
rgb_printf(image_matrix, FACE_COLOR_CYAN, "ID[%u] Sample[%u]", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
if (left_sample_face == 0)
{
is_enrolling = 0;
ESP_LOGD(TAG, "Enrolled Face ID: %d", id_list.tail);
}
}
else
{
matched_id = recognize_face(&id_list, aligned_face);
if (matched_id >= 0)
{
ESP_LOGW(TAG, "Match Face ID: %u", matched_id);
rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello Subject %u", matched_id);
}
else
{
ESP_LOGW(TAG, "No Match Found");
rgb_print(image_matrix, FACE_COLOR_RED, "Intruder Alert!");
matched_id = -1;
}
}
}
else
{
ESP_LOGW(TAG, "Face Not Aligned");
//rgb_print(image_matrix, FACE_COLOR_YELLOW, "Human Detected");
int enrolled_count = recognizer.get_enrolled_id_num();
if (enrolled_count < FACE_ID_SAVE_NUMBER && is_enrolling){
id = recognizer.enroll_id(tensor, landmarks, "", true);
ESP_LOGI(TAG, "Enrolled ID: %d", id);
rgb_printf(fb, FACE_COLOR_CYAN, "ID[%u]", id);
}
dl_matrix3du_free(aligned_face);
return matched_id;
face_info_t recognize = recognizer.recognize(tensor, landmarks);
if(recognize.id >= 0){
rgb_printf(fb, FACE_COLOR_GREEN, "ID[%u]: %.2f", recognize.id, recognize.similarity);
} else {
rgb_print(fb, FACE_COLOR_RED, "Intruder Alert!");
}
return recognize.id;
}
#endif
#endif
@ -291,7 +296,9 @@ static esp_err_t bmp_handler(httpd_req_t *req)
{
camera_fb_t *fb = NULL;
esp_err_t res = ESP_OK;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
uint64_t fr_start = esp_timer_get_time();
#endif
fb = esp_camera_fb_get();
if (!fb)
{
@ -320,7 +327,9 @@ static esp_err_t bmp_handler(httpd_req_t *req)
}
res = httpd_resp_send(req, (const char *)buf, buf_len);
free(buf);
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
uint64_t fr_end = esp_timer_get_time();
#endif
ESP_LOGI(TAG, "BMP: %llums, %uB", (uint64_t)((fr_end - fr_start) / 1000), buf_len);
return res;
}
@ -344,7 +353,9 @@ static esp_err_t capture_handler(httpd_req_t *req)
{
camera_fb_t *fb = NULL;
esp_err_t res = ESP_OK;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
int64_t fr_start = esp_timer_get_time();
#endif
#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
enable_led(true);
@ -374,15 +385,21 @@ static esp_err_t capture_handler(httpd_req_t *req)
size_t out_len, out_width, out_height;
uint8_t *out_buf;
bool s;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
bool detected = false;
#endif
int face_id = 0;
if (!detection_enabled || fb->width > 400)
{
#endif
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
size_t fb_len = 0;
#endif
if (fb->format == PIXFORMAT_JPEG)
{
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fb_len = fb->len;
#endif
res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
}
else
@ -390,68 +407,110 @@ static esp_err_t capture_handler(httpd_req_t *req)
jpg_chunking_t jchunk = {req, 0};
res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk) ? ESP_OK : ESP_FAIL;
httpd_resp_send_chunk(req, NULL, 0);
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fb_len = jchunk.len;
#endif
}
esp_camera_fb_return(fb);
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
int64_t fr_end = esp_timer_get_time();
#endif
ESP_LOGI(TAG, "JPG: %uB %ums", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start) / 1000));
return res;
#if CONFIG_ESP_FACE_DETECT_ENABLED
}
dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
if (!image_matrix)
{
esp_camera_fb_return(fb);
ESP_LOGE(TAG, "dl_matrix3du_alloc failed");
httpd_resp_send_500(req);
return ESP_FAIL;
}
out_buf = image_matrix->item;
out_len = fb->width * fb->height * 3;
out_width = fb->width;
out_height = fb->height;
s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
esp_camera_fb_return(fb);
if (!s)
{
dl_matrix3du_free(image_matrix);
ESP_LOGE(TAG, "to rgb888 failed");
httpd_resp_send_500(req);
return ESP_FAIL;
}
box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config);
if (net_boxes)
{
detected = true;
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
if (recognition_enabled)
{
face_id = run_face_recognition(image_matrix, net_boxes);
}
#endif
draw_face_boxes(image_matrix, net_boxes, face_id);
dl_lib_free(net_boxes->score);
dl_lib_free(net_boxes->box);
if (net_boxes->landmark != NULL)
dl_lib_free(net_boxes->landmark);
dl_lib_free(net_boxes);
}
jpg_chunking_t jchunk = {req, 0};
s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);
dl_matrix3du_free(image_matrix);
if (!s)
if (fb->format == PIXFORMAT_RGB565
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
&& !recognition_enabled
#endif
){
#if TWO_STAGE
HumanFaceDetectMSR01 s1(0.1F, 0.5F, 10, 0.2F);
HumanFaceDetectMNP01 s2(0.5F, 0.3F, 5);
std::list<dl::detect::result_t> &candidates = s1.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
std::list<dl::detect::result_t> &results = s2.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3}, candidates);
#else
HumanFaceDetectMSR01 s1(0.3F, 0.5F, 10, 0.2F);
std::list<dl::detect::result_t> &results = s1.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
#endif
if (results.size() > 0) {
fb_data_t rfb;
rfb.width = fb->width;
rfb.height = fb->height;
rfb.data = fb->buf;
rfb.bytes_per_pixel = 2;
rfb.format = FB_RGB565;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
detected = true;
#endif
draw_face_boxes(&rfb, &results, face_id);
}
s = fmt2jpg_cb(fb->buf, fb->len, fb->width, fb->height, PIXFORMAT_RGB565, 90, jpg_encode_stream, &jchunk);
esp_camera_fb_return(fb);
} else
{
ESP_LOGE(TAG, "JPEG compression failed");
return ESP_FAIL;
out_len = fb->width * fb->height * 3;
out_width = fb->width;
out_height = fb->height;
out_buf = (uint8_t*)malloc(out_len);
if (!out_buf) {
ESP_LOGE(TAG, "out_buf malloc failed");
httpd_resp_send_500(req);
return ESP_FAIL;
}
s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
esp_camera_fb_return(fb);
if (!s) {
free(out_buf);
ESP_LOGE(TAG, "to rgb888 failed");
httpd_resp_send_500(req);
return ESP_FAIL;
}
fb_data_t rfb;
rfb.width = out_width;
rfb.height = out_height;
rfb.data = out_buf;
rfb.bytes_per_pixel = 3;
rfb.format = FB_BGR888;
#if TWO_STAGE
HumanFaceDetectMSR01 s1(0.1F, 0.5F, 10, 0.2F);
HumanFaceDetectMNP01 s2(0.5F, 0.3F, 5);
std::list<dl::detect::result_t> &candidates = s1.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3});
std::list<dl::detect::result_t> &results = s2.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3}, candidates);
#else
HumanFaceDetectMSR01 s1(0.3F, 0.5F, 10, 0.2F);
std::list<dl::detect::result_t> &results = s1.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3});
#endif
if (results.size() > 0) {
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
detected = true;
#endif
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
if (recognition_enabled) {
face_id = run_face_recognition(&rfb, &results);
}
#endif
draw_face_boxes(&rfb, &results, face_id);
}
s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);
free(out_buf);
}
if (!s) {
ESP_LOGE(TAG, "JPEG compression failed");
httpd_resp_send_500(req);
return ESP_FAIL;
}
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
int64_t fr_end = esp_timer_get_time();
#endif
ESP_LOGI(TAG, "FACE: %uB %ums %s%d", (uint32_t)(jchunk.len), (uint32_t)((fr_end - fr_start) / 1000), detected ? "DETECTED " : "", face_id);
return res;
#endif
@ -466,14 +525,24 @@ static esp_err_t stream_handler(httpd_req_t *req)
uint8_t *_jpg_buf = NULL;
char *part_buf[128];
#if CONFIG_ESP_FACE_DETECT_ENABLED
dl_matrix3du_t *image_matrix = NULL;
bool detected = false;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
bool detected = false;
int64_t fr_ready = 0;
int64_t fr_recognize = 0;
int64_t fr_encode = 0;
int64_t fr_face = 0;
int64_t fr_start = 0;
#endif
int face_id = 0;
int64_t fr_start = 0;
int64_t fr_ready = 0;
int64_t fr_face = 0;
int64_t fr_recognize = 0;
int64_t fr_encode = 0;
size_t out_len = 0, out_width = 0, out_height = 0;
uint8_t *out_buf = NULL;
bool s = false;
#if TWO_STAGE
HumanFaceDetectMSR01 s1(0.1F, 0.5F, 10, 0.2F);
HumanFaceDetectMNP01 s2(0.5F, 0.3F, 5);
#else
HumanFaceDetectMSR01 s1(0.3F, 0.5F, 10, 0.2F);
#endif
#endif
static int64_t last_frame = 0;
@ -499,7 +568,9 @@ static esp_err_t stream_handler(httpd_req_t *req)
while (true)
{
#if CONFIG_ESP_FACE_DETECT_ENABLED
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
detected = false;
#endif
face_id = 0;
#endif
@ -514,11 +585,13 @@ static esp_err_t stream_handler(httpd_req_t *req)
_timestamp.tv_sec = fb->timestamp.tv_sec;
_timestamp.tv_usec = fb->timestamp.tv_usec;
#if CONFIG_ESP_FACE_DETECT_ENABLED
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_start = esp_timer_get_time();
fr_ready = fr_start;
fr_face = fr_start;
fr_encode = fr_start;
fr_recognize = fr_start;
fr_face = fr_start;
#endif
if (!detection_enabled || fb->width > 400)
{
#endif
@ -542,65 +615,112 @@ static esp_err_t stream_handler(httpd_req_t *req)
}
else
{
image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
if (!image_matrix)
{
ESP_LOGE(TAG, "dl_matrix3du_alloc failed");
res = ESP_FAIL;
}
else
{
if (!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item))
{
ESP_LOGE(TAG, "fmt2rgb888 failed");
if (fb->format == PIXFORMAT_RGB565
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
&& !recognition_enabled
#endif
){
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_ready = esp_timer_get_time();
#endif
#if TWO_STAGE
std::list<dl::detect::result_t> &candidates = s1.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
std::list<dl::detect::result_t> &results = s2.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3}, candidates);
#else
std::list<dl::detect::result_t> &results = s1.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
#endif
#if CONFIG_ESP_FACE_DETECT_ENABLED && ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_face = esp_timer_get_time();
fr_recognize = fr_face;
#endif
if (results.size() > 0) {
fb_data_t rfb;
rfb.width = fb->width;
rfb.height = fb->height;
rfb.data = fb->buf;
rfb.bytes_per_pixel = 2;
rfb.format = FB_RGB565;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
detected = true;
#endif
draw_face_boxes(&rfb, &results, face_id);
}
s = fmt2jpg(fb->buf, fb->len, fb->width, fb->height, PIXFORMAT_RGB565, 80, &_jpg_buf, &_jpg_buf_len);
esp_camera_fb_return(fb);
fb = NULL;
if (!s) {
ESP_LOGE(TAG, "fmt2jpg failed");
res = ESP_FAIL;
}
else
{
fr_ready = esp_timer_get_time();
box_array_t *net_boxes = NULL;
if (detection_enabled)
{
net_boxes = face_detect(image_matrix, &mtmn_config);
}
fr_face = esp_timer_get_time();
fr_recognize = fr_face;
if (net_boxes || fb->format != PIXFORMAT_JPEG)
{
if (net_boxes)
{
detected = true;
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
if (recognition_enabled)
{
face_id = run_face_recognition(image_matrix, net_boxes);
}
fr_recognize = esp_timer_get_time();
#if CONFIG_ESP_FACE_DETECT_ENABLED && ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_encode = esp_timer_get_time();
#endif
draw_face_boxes(image_matrix, net_boxes, face_id);
dl_lib_free(net_boxes->score);
dl_lib_free(net_boxes->box);
if (net_boxes->landmark != NULL)
dl_lib_free(net_boxes->landmark);
dl_lib_free(net_boxes);
} else
{
out_len = fb->width * fb->height * 3;
out_width = fb->width;
out_height = fb->height;
out_buf = (uint8_t*)malloc(out_len);
if (!out_buf) {
ESP_LOGE(TAG, "out_buf malloc failed");
res = ESP_FAIL;
} else {
s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
esp_camera_fb_return(fb);
fb = NULL;
if (!s) {
free(out_buf);
ESP_LOGE(TAG, "to rgb888 failed");
res = ESP_FAIL;
} else {
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_ready = esp_timer_get_time();
#endif
fb_data_t rfb;
rfb.width = out_width;
rfb.height = out_height;
rfb.data = out_buf;
rfb.bytes_per_pixel = 3;
rfb.format = FB_BGR888;
#if TWO_STAGE
std::list<dl::detect::result_t> &candidates = s1.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3});
std::list<dl::detect::result_t> &results = s2.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3}, candidates);
#else
std::list<dl::detect::result_t> &results = s1.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3});
#endif
#if CONFIG_ESP_FACE_DETECT_ENABLED && ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_face = esp_timer_get_time();
fr_recognize = fr_face;
#endif
if (results.size() > 0) {
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
detected = true;
#endif
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
if (recognition_enabled) {
face_id = run_face_recognition(&rfb, &results);
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_recognize = esp_timer_get_time();
#endif
}
#endif
draw_face_boxes(&rfb, &results, face_id);
}
if (!fmt2jpg(image_matrix->item, fb->width * fb->height * 3, fb->width, fb->height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len))
{
s = fmt2jpg(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len);
free(out_buf);
if (!s) {
ESP_LOGE(TAG, "fmt2jpg failed");
res = ESP_FAIL;
}
esp_camera_fb_return(fb);
fb = NULL;
#if CONFIG_ESP_FACE_DETECT_ENABLED && ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
fr_encode = esp_timer_get_time();
#endif
}
else
{
_jpg_buf = fb->buf;
_jpg_buf_len = fb->len;
}
fr_encode = esp_timer_get_time();
}
dl_matrix3du_free(image_matrix);
}
}
#endif
@ -631,11 +751,12 @@ static esp_err_t stream_handler(httpd_req_t *req)
}
if (res != ESP_OK)
{
ESP_LOGE(TAG, "send frame failed failed");
break;
}
int64_t fr_end = esp_timer_get_time();
#if CONFIG_ESP_FACE_DETECT_ENABLED
#if CONFIG_ESP_FACE_DETECT_ENABLED && ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
int64_t ready_time = (fr_ready - fr_start) / 1000;
int64_t face_time = (fr_face - fr_ready) / 1000;
int64_t recognize_time = (fr_recognize - fr_face) / 1000;
@ -644,9 +765,10 @@ static esp_err_t stream_handler(httpd_req_t *req)
#endif
int64_t frame_time = fr_end - last_frame;
last_frame = fr_end;
frame_time /= 1000;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
#endif
ESP_LOGI(TAG, "MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps)"
#if CONFIG_ESP_FACE_DETECT_ENABLED
", %u+%u+%u+%u=%u %s%d"
@ -668,7 +790,6 @@ static esp_err_t stream_handler(httpd_req_t *req)
enable_led(false);
#endif
last_frame = 0;
return res;
}
@ -785,8 +906,10 @@ static esp_err_t cmd_handler(httpd_req_t *req)
#endif
}
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
else if (!strcmp(variable, "face_enroll"))
is_enrolling = val;
else if (!strcmp(variable, "face_enroll")){
is_enrolling = !is_enrolling;
ESP_LOGI(TAG, "Enrolling: %s", is_enrolling?"true":"false");
}
else if (!strcmp(variable, "face_recognize")) {
recognition_enabled = val;
if (recognition_enabled) {
@ -1087,90 +1210,152 @@ void startCameraServer()
.uri = "/",
.method = HTTP_GET,
.handler = index_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t status_uri = {
.uri = "/status",
.method = HTTP_GET,
.handler = status_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t cmd_uri = {
.uri = "/control",
.method = HTTP_GET,
.handler = cmd_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t capture_uri = {
.uri = "/capture",
.method = HTTP_GET,
.handler = capture_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t stream_uri = {
.uri = "/stream",
.method = HTTP_GET,
.handler = stream_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t bmp_uri = {
.uri = "/bmp",
.method = HTTP_GET,
.handler = bmp_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t xclk_uri = {
.uri = "/xclk",
.method = HTTP_GET,
.handler = xclk_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t reg_uri = {
.uri = "/reg",
.method = HTTP_GET,
.handler = reg_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t greg_uri = {
.uri = "/greg",
.method = HTTP_GET,
.handler = greg_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t pll_uri = {
.uri = "/pll",
.method = HTTP_GET,
.handler = pll_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
httpd_uri_t win_uri = {
.uri = "/resolution",
.method = HTTP_GET,
.handler = win_handler,
.user_ctx = NULL};
.user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
,
.is_websocket = true,
.handle_ws_control_frames = false,
.supported_subprotocol = NULL
#endif
};
ra_filter_init(&ra_filter, 20);
#if CONFIG_ESP_FACE_DETECT_ENABLED
mtmn_config.type = FAST;
mtmn_config.min_face = 80;
mtmn_config.pyramid = 0.707;
mtmn_config.pyramid_times = 4;
mtmn_config.p_threshold.score = 0.6;
mtmn_config.p_threshold.nms = 0.7;
mtmn_config.p_threshold.candidate_number = 20;
mtmn_config.r_threshold.score = 0.7;
mtmn_config.r_threshold.nms = 0.7;
mtmn_config.r_threshold.candidate_number = 10;
mtmn_config.o_threshold.score = 0.7;
mtmn_config.o_threshold.nms = 0.7;
mtmn_config.o_threshold.candidate_number = 1;
#if CONFIG_ESP_FACE_RECOGNITION_ENABLED
face_id_init(&id_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES);
#endif
recognizer.set_partition(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, "fr");
// load ids from flash partition
recognizer.set_ids_from_flash();
#endif
ESP_LOGI(TAG, "Starting web server on port: '%d'", config.server_port);
if (httpd_start(&camera_httpd, &config) == ESP_OK)

1
C/Sketches/Sketch_05.1_CameraWebServer/camera_index.h
View File

@ -1568,3 +1568,4 @@ const uint8_t index_ov5640_html_gz[] = {
0x05, 0x83, 0x47, 0x67, 0x87, 0x33, 0x7F, 0x6E, 0x0D, 0x1E, 0xFD, 0x2F, 0x5E, 0x72, 0x0B, 0x89,
0x42, 0x10, 0x01, 0x00
};

98
C/Sketches/Sketch_05.1_CameraWebServer/camera_pins.h
View File

@ -170,6 +170,104 @@
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_ESP32_CAM_BOARD)
// The 18 pin header on the board has Y5 and Y3 swapped
#define USE_BOARD_HEADER 0
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM 33
#define XCLK_GPIO_NUM 4
#define SIOD_GPIO_NUM 18
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 36
#define Y8_GPIO_NUM 19
#define Y7_GPIO_NUM 21
#define Y6_GPIO_NUM 39
#if USE_BOARD_HEADER
#define Y5_GPIO_NUM 13
#else
#define Y5_GPIO_NUM 35
#endif
#define Y4_GPIO_NUM 14
#if USE_BOARD_HEADER
#define Y3_GPIO_NUM 35
#else
#define Y3_GPIO_NUM 13
#endif
#define Y2_GPIO_NUM 34
#define VSYNC_GPIO_NUM 5
#define HREF_GPIO_NUM 27
#define PCLK_GPIO_NUM 25
#elif defined(CAMERA_MODEL_ESP32S3_CAM_LCD)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 40
#define SIOD_GPIO_NUM 17
#define SIOC_GPIO_NUM 18
#define Y9_GPIO_NUM 39
#define Y8_GPIO_NUM 41
#define Y7_GPIO_NUM 42
#define Y6_GPIO_NUM 12
#define Y5_GPIO_NUM 3
#define Y4_GPIO_NUM 14
#define Y3_GPIO_NUM 47
#define Y2_GPIO_NUM 13
#define VSYNC_GPIO_NUM 21
#define HREF_GPIO_NUM 38
#define PCLK_GPIO_NUM 11
#elif defined(CAMERA_MODEL_ESP32S2_CAM_BOARD)
// The 18 pin header on the board has Y5 and Y3 swapped
#define USE_BOARD_HEADER 0
#define PWDN_GPIO_NUM 1
#define RESET_GPIO_NUM 2
#define XCLK_GPIO_NUM 42
#define SIOD_GPIO_NUM 41
#define SIOC_GPIO_NUM 18
#define Y9_GPIO_NUM 16
#define Y8_GPIO_NUM 39
#define Y7_GPIO_NUM 40
#define Y6_GPIO_NUM 15
#if USE_BOARD_HEADER
#define Y5_GPIO_NUM 12
#else
#define Y5_GPIO_NUM 13
#endif
#define Y4_GPIO_NUM 5
#if USE_BOARD_HEADER
#define Y3_GPIO_NUM 13
#else
#define Y3_GPIO_NUM 12
#endif
#define Y2_GPIO_NUM 14
#define VSYNC_GPIO_NUM 38
#define HREF_GPIO_NUM 4
#define PCLK_GPIO_NUM 3
#elif defined(CAMERA_MODEL_ESP32S3_EYE)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 15
#define SIOD_GPIO_NUM 4
#define SIOC_GPIO_NUM 5
#define Y2_GPIO_NUM 11
#define Y3_GPIO_NUM 9
#define Y4_GPIO_NUM 8
#define Y5_GPIO_NUM 10
#define Y6_GPIO_NUM 12
#define Y7_GPIO_NUM 18
#define Y8_GPIO_NUM 17
#define Y9_GPIO_NUM 16
#define VSYNC_GPIO_NUM 6
#define HREF_GPIO_NUM 7
#define PCLK_GPIO_NUM 13
#else
#error "Camera model not selected"
#endif