commit 9f12627649d18b23bbe905793af6eabdaab1136b Author: Henri Gros Date: Fri Jun 28 14:08:49 2024 +0200 Initial commit diff --git a/ESP_sources/CameraWebServer.ino b/ESP_sources/CameraWebServer.ino new file mode 100644 index 0000000..d918293 --- /dev/null +++ b/ESP_sources/CameraWebServer.ino @@ -0,0 +1,164 @@ +#include "esp_camera.h" +#include + +// +// WARNING!!! PSRAM IC required for UXGA resolution and high JPEG quality +// Ensure ESP32 Wrover Module or other board with PSRAM is selected +// Partial images will be transmitted if image exceeds buffer size +// +// You must select partition scheme from the board menu that has at least 3MB APP space. +// Face Recognition is DISABLED for ESP32 and ESP32-S2, because it takes up from 15 +// seconds to process single frame. Face Detection is ENABLED if PSRAM is enabled as well + +// =================== +// 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 +//#define CAMERA_MODEL_M5STACK_ESP32CAM // No PSRAM +//#define CAMERA_MODEL_M5STACK_UNITCAM // No PSRAM +#define CAMERA_MODEL_AI_THINKER // Has PSRAM +//#define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM +//#define CAMERA_MODEL_XIAO_ESP32S3 // Has PSRAM +// ** Espressif Internal Boards ** +//#define CAMERA_MODEL_ESP32_CAM_BOARD +//#define CAMERA_MODEL_ESP32S2_CAM_BOARD +//#define CAMERA_MODEL_ESP32S3_CAM_LCD +//#define CAMERA_MODEL_DFRobot_FireBeetle2_ESP32S3 // Has PSRAM +//#define CAMERA_MODEL_DFRobot_Romeo_ESP32S3 // Has PSRAM +#include "camera_pins.h" + +// =========================== +// Enter your WiFi credentials +// =========================== +const char* ssid = "RPI Henri"; + +IPAddress staticIP(192, 168, 0, 152); +IPAddress gateway(192, 168, 0, 0); +IPAddress subnet(255, 255, 255, 0); +IPAddress dns(192, 168, 0, 0); + +void startCameraServer(); +void setupLedFlash(int pin); + +void setup() { + Serial.begin(115200); + Serial.setDebugOutput(true); + Serial.println(); + + camera_config_t config; + config.ledc_channel = LEDC_CHANNEL_0; + config.ledc_timer = LEDC_TIMER_0; + config.pin_d0 = Y2_GPIO_NUM; + config.pin_d1 = Y3_GPIO_NUM; + config.pin_d2 = Y4_GPIO_NUM; + config.pin_d3 = Y5_GPIO_NUM; + config.pin_d4 = Y6_GPIO_NUM;how can i open multiple files at the same time in python + config.pin_d5 = Y7_GPIO_NUM; + config.pin_d6 = Y8_GPIO_NUM; + config.pin_d7 = Y9_GPIO_NUM; + config.pin_xclk = XCLK_GPIO_NUM; + config.pin_pclk = PCLK_GPIO_NUM; + config.pin_vsync = VSYNC_GPIO_NUM; + config.pin_href = HREF_GPIO_NUM; + config.pin_sccb_sda = SIOD_GPIO_NUM; + config.pin_sccb_scl = SIOC_GPIO_NUM; + config.pin_pwdn = PWDN_GPIO_NUM; + config.pin_reset = RESET_GPIO_NUM; + config.xclk_freq_hz = 20000000; + config.frame_size = FRAMESIZE_UXGA; + 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; + + // if PSRAM IC present, init with UXGA resolution and higher JPEG quality + // for larger pre-allocated frame buffer. + if(config.pixel_format == PIXFORMAT_JPEG){ + if(psramFound()){ + config.jpeg_quality = 10; + config.fb_count = 2; + config.grab_mode = CAMERA_GRAB_LATEST; + } else { + // Limit the frame size when PSRAM is not available + config.frame_size = FRAMESIZE_SVGA; + config.fb_location = CAMERA_FB_IN_DRAM; + } + } else { + // Best option for face detection/recognition + config.frame_size = FRAMESIZE_240X240; +#if CONFIG_IDF_TARGET_ESP32S3 + config.fb_count = 2; +#endif + } + +#if defined(CAMERA_MODEL_ESP_EYE) + pinMode(13, INPUT_PULLUP); + pinMode(14, INPUT_PULLUP); +#endif + + // camera init + esp_err_t err = esp_camera_init(&config); + if (err != ESP_OK) { + Serial.printf("Camera init failed with error 0x%x", err); + return; + } + + sensor_t * s = esp_camera_sensor_get(); + // initial sensors are flipped vertically and colors are a bit saturated + if (s->id.PID == OV3660_PID) { + s->set_vflip(s, 1); // flip it back + s->set_brightness(s, 1); // up the brightness just a bit + s->set_saturation(s, -2); // lower the saturation + } + // drop down frame size for higher initial frame rate + // if(config.pixel_format == PIXFORMAT_JPEG){ + // s->set_framesize(s, FRAMESIZE_QVGA); + // } + +#if defined(CAMERA_MODEL_M5STACK_WIDE) || defined(CAMERA_MODEL_M5STACK_ESP32CAM) + s->set_vflip(s, 1); + s->set_hmirror(s, 1); +#endif + +#if defined(CAMERA_MODEL_ESP32S3_EYE) + s->set_vflip(s, 1); +#endif + +// Setup LED FLash if LED pin is defined in camera_pins.h +#if defined(LED_GPIO_NUM) + setupLedFlash(LED_GPIO_NUM); +#endif + + if (WiFi.config(staticIP, gateway, subnet, dns, dns) == false) { + Serial.println("Configuration failed."); + } + + // WiFi.begin(ssid, password); + WiFi.begin(ssid); + WiFi.setSleep(false); + + while (WiFi.status() != WL_CONNECTED) { + delay(500); + Serial.print("."); + } + Serial.println(""); + Serial.println("WiFi connected"); + + startCameraServer(); + + Serial.print("Camera Ready! Use 'http://"); + Serial.print(WiFi.localIP()); + Serial.println("' to connect"); +} + +void loop() { + // Do nothing. Everything is done in another task by the web server + delay(10000); +} diff --git a/ESP_sources/app_httpd.cpp b/ESP_sources/app_httpd.cpp new file mode 100644 index 0000000..a9c62c1 --- /dev/null +++ b/ESP_sources/app_httpd.cpp @@ -0,0 +1,1394 @@ +// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "esp_http_server.h" +#include "esp_timer.h" +#include "esp_camera.h" +#include "img_converters.h" +#include "fb_gfx.h" +#include "esp32-hal-ledc.h" +#include "sdkconfig.h" +#include "camera_index.h" + +#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG) +#include "esp32-hal-log.h" +#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 +#include "human_face_detect_msr01.hpp" +#include "human_face_detect_mnp01.hpp" + +#define TWO_STAGE 1 /* very large firmware, very slow, reboots when streaming... + +#define FACE_ID_SAVE_NUMBER 7 +#endif + +#define FACE_COLOR_WHITE 0x00FFFFFF +#define FACE_COLOR_BLACK 0x00000000 +#define FACE_COLOR_RED 0x000000FF +#define FACE_COLOR_GREEN 0x0000FF00 +#define FACE_COLOR_BLUE 0x00FF0000 +#define FACE_COLOR_YELLOW (FACE_COLOR_RED | FACE_COLOR_GREEN) +#define FACE_COLOR_CYAN (FACE_COLOR_BLUE | FACE_COLOR_GREEN) +#define FACE_COLOR_PURPLE (FACE_COLOR_BLUE | FACE_COLOR_RED) +#endif + +// Enable LED FLASH setting +#define CONFIG_LED_ILLUMINATOR_ENABLED 1 + +// LED FLASH setup +#if CONFIG_LED_ILLUMINATOR_ENABLED + +#define LED_LEDC_CHANNEL 2 //Using different ledc channel/timer than camera +#define CONFIG_LED_MAX_INTENSITY 255 + +int led_duty = 0; +bool isStreaming = false; + +#endif + +typedef struct +{ + httpd_req_t *req; + size_t len; +} jpg_chunking_t; + +#define PART_BOUNDARY "123456789000000000000987654321" +static const char *_STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY; +static const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n"; +static const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\nX-Timestamp: %d.%06d\r\n\r\n"; + +httpd_handle_t stream_httpd = NULL; +httpd_handle_t camera_httpd = NULL; + +#if CONFIG_ESP_FACE_DETECT_ENABLED + +static int8_t detection_enabled = 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; + +#if QUANT_TYPE + // S16 model + FaceRecognition112V1S16 recognizer; +#else + // S8 model + FaceRecognition112V1S8 recognizer; +#endif +#endif + +#endif + +typedef struct +{ + size_t size; //number of values used for filtering + size_t index; //current value index + size_t count; //value count + int sum; + int *values; //array to be filled with values +} ra_filter_t; + +static ra_filter_t ra_filter; + +static ra_filter_t *ra_filter_init(ra_filter_t *filter, size_t sample_size) +{ + memset(filter, 0, sizeof(ra_filter_t)); + + filter->values = (int *)malloc(sample_size * sizeof(int)); + if (!filter->values) + { + return NULL; + } + memset(filter->values, 0, sample_size * sizeof(int)); + + filter->size = 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) + { + return value; + } + filter->sum -= filter->values[filter->index]; + filter->values[filter->index] = value; + filter->sum += filter->values[filter->index]; + filter->index++; + filter->index = filter->index % filter->size; + if (filter->count < filter->size) + { + filter->count++; + } + return filter->sum / filter->count; +} +#endif + +#if CONFIG_ESP_FACE_DETECT_ENABLED +#if CONFIG_ESP_FACE_RECOGNITION_ENABLED +static void rgb_print(fb_data_t *fb, uint32_t color, const char *str) +{ + fb_gfx_print(fb, (fb->width - (strlen(str) * 14)) / 2, 10, color, str); +} + +static int rgb_printf(fb_data_t *fb, uint32_t color, const char *format, ...) +{ + char loc_buf[64]; + char *temp = loc_buf; + int len; + va_list arg; + va_list copy; + va_start(arg, format); + va_copy(copy, arg); + len = vsnprintf(loc_buf, sizeof(loc_buf), format, arg); + va_end(copy); + if (len >= sizeof(loc_buf)) + { + temp = (char *)malloc(len + 1); + if (temp == NULL) + { + return 0; + } + } + vsnprintf(temp, len + 1, format, arg); + va_end(arg); + rgb_print(fb, color, temp); + if (len > 64) + { + free(temp); + } + return len; +} +#endif +static void draw_face_boxes(fb_data_t *fb, std::list *results, int face_id) +{ + int x, y, w, h; + uint32_t color = FACE_COLOR_YELLOW; + if (face_id < 0) + { + color = FACE_COLOR_RED; + } + else if (face_id > 0) + { + color = FACE_COLOR_GREEN; + } + 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::iterator prediction = results->begin(); prediction != results->end(); prediction++, i++) + { + // rectangle box + 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)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(fb_data_t *fb, std::list *results) +{ + std::vector landmarks = results->front().keypoint; + int id = -1; + + Tensor tensor; + tensor.set_element((uint8_t *)fb->data).set_shape({fb->height, fb->width, 3}).set_auto_free(false); + + int enrolled_count = recognizer.get_enrolled_id_num(); + + if (enrolled_count < FACE_ID_SAVE_NUMBER && is_enrolling){ + id = recognizer.enroll_id(tensor, landmarks, "", true); + log_i("Enrolled ID: %d", id); + rgb_printf(fb, FACE_COLOR_CYAN, "ID[%u]", 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 + +#if CONFIG_LED_ILLUMINATOR_ENABLED +void enable_led(bool en) +{ // Turn LED On or Off + int duty = en ? led_duty : 0; + if (en && isStreaming && (led_duty > CONFIG_LED_MAX_INTENSITY)) + { + duty = CONFIG_LED_MAX_INTENSITY; + } + ledcWrite(LED_LEDC_CHANNEL, duty); + //ledc_set_duty(CONFIG_LED_LEDC_SPEED_MODE, CONFIG_LED_LEDC_CHANNEL, duty); + //ledc_update_duty(CONFIG_LED_LEDC_SPEED_MODE, CONFIG_LED_LEDC_CHANNEL); + log_i("Set LED intensity to %d", duty); +} +#endif + +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) + { + log_e("Camera capture failed"); + httpd_resp_send_500(req); + return ESP_FAIL; + } + + httpd_resp_set_type(req, "image/x-windows-bmp"); + httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.bmp"); + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + + char ts[32]; + snprintf(ts, 32, "%ld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec); + httpd_resp_set_hdr(req, "X-Timestamp", (const char *)ts); + + + uint8_t * buf = NULL; + size_t buf_len = 0; + bool converted = frame2bmp(fb, &buf, &buf_len); + esp_camera_fb_return(fb); + if(!converted){ + log_e("BMP Conversion failed"); + httpd_resp_send_500(req); + return ESP_FAIL; + } + 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 + log_i("BMP: %llums, %uB", (uint64_t)((fr_end - fr_start) / 1000), buf_len); + return res; +} + +static size_t jpg_encode_stream(void *arg, size_t index, const void *data, size_t len) +{ + jpg_chunking_t *j = (jpg_chunking_t *)arg; + if (!index) + { + j->len = 0; + } + if (httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK) + { + return 0; + } + j->len += len; + return len; +} + +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 + +#if CONFIG_LED_ILLUMINATOR_ENABLED + enable_led(true); + vTaskDelay(150 / portTICK_PERIOD_MS); // The LED needs to be turned on ~150ms before the call to esp_camera_fb_get() + fb = esp_camera_fb_get(); // or it won't be visible in the frame. A better way to do this is needed. + enable_led(false); +#else + fb = esp_camera_fb_get(); +#endif + + if (!fb) + { + log_e("Camera capture failed"); + httpd_resp_send_500(req); + return ESP_FAIL; + } + + httpd_resp_set_type(req, "image/jpeg"); + httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg"); + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + + char ts[32]; + snprintf(ts, 32, "%ld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec); + httpd_resp_set_hdr(req, "X-Timestamp", (const char *)ts); + +#if CONFIG_ESP_FACE_DETECT_ENABLED + 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 + { + 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 + log_i("JPG: %uB %ums", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start) / 1000)); + return res; +#if CONFIG_ESP_FACE_DETECT_ENABLED + } + + jpg_chunking_t jchunk = {req, 0}; + + 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 &candidates = s1.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3}); + std::list &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 &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 + { + 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) { + log_e("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); + log_e("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 &candidates = s1.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3}); + std::list &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 &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) { + log_e("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 + log_i("FACE: %uB %ums %s%d", (uint32_t)(jchunk.len), (uint32_t)((fr_end - fr_start) / 1000), detected ? "DETECTED " : "", face_id); + return res; +#endif +} + +static esp_err_t stream_handler(httpd_req_t *req) +{ + camera_fb_t *fb = NULL; + struct timeval _timestamp; + esp_err_t res = ESP_OK; + size_t _jpg_buf_len = 0; + uint8_t *_jpg_buf = NULL; + char *part_buf[128]; +#if CONFIG_ESP_FACE_DETECT_ENABLED + #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; + 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; + if (!last_frame) + { + last_frame = esp_timer_get_time(); + } + + res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE); + if (res != ESP_OK) + { + return res; + } + + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + httpd_resp_set_hdr(req, "X-Framerate", "60"); + +#if CONFIG_LED_ILLUMINATOR_ENABLED + isStreaming = true; + enable_led(true); +#endif + + while (true) + { +#if CONFIG_ESP_FACE_DETECT_ENABLED + #if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO + detected = false; + #endif + face_id = 0; +#endif + + fb = esp_camera_fb_get(); + if (!fb) + { + log_e("Camera capture failed"); + res = ESP_FAIL; + } + else + { + _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_encode = fr_start; + fr_recognize = fr_start; + fr_face = fr_start; + #endif + if (!detection_enabled || fb->width > 400) + { +#endif + if (fb->format != PIXFORMAT_JPEG) + { + bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len); + esp_camera_fb_return(fb); + fb = NULL; + if (!jpeg_converted) + { + log_e("JPEG compression failed"); + res = ESP_FAIL; + } + } + else + { + _jpg_buf_len = fb->len; + _jpg_buf = fb->buf; + } +#if CONFIG_ESP_FACE_DETECT_ENABLED + } + else + { + 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 &candidates = s1.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3}); + std::list &results = s2.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3}, candidates); +#else + std::list &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) { + log_e("fmt2jpg failed"); + res = ESP_FAIL; + } +#if CONFIG_ESP_FACE_DETECT_ENABLED && ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO + fr_encode = esp_timer_get_time(); +#endif + } 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) { + log_e("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); + log_e("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 &candidates = s1.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3}); + std::list &results = s2.infer((uint8_t *)out_buf, {(int)out_height, (int)out_width, 3}, candidates); +#else + std::list &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); + } + s = fmt2jpg(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len); + free(out_buf); + if (!s) { + log_e("fmt2jpg failed"); + res = ESP_FAIL; + } +#if CONFIG_ESP_FACE_DETECT_ENABLED && ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO + fr_encode = esp_timer_get_time(); +#endif + } + } + } + } +#endif + } + if (res == ESP_OK) + { + res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY)); + } + if (res == ESP_OK) + { + size_t hlen = snprintf((char *)part_buf, 128, _STREAM_PART, _jpg_buf_len, _timestamp.tv_sec, _timestamp.tv_usec); + res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen); + } + if (res == ESP_OK) + { + res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len); + } + if (fb) + { + esp_camera_fb_return(fb); + fb = NULL; + _jpg_buf = NULL; + } + else if (_jpg_buf) + { + free(_jpg_buf); + _jpg_buf = NULL; + } + if (res != ESP_OK) + { + log_e("Send frame failed"); + break; + } + int64_t fr_end = esp_timer_get_time(); + +#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; + int64_t encode_time = (fr_encode - fr_recognize) / 1000; + int64_t process_time = (fr_encode - fr_start) / 1000; +#endif + + int64_t frame_time = fr_end - last_frame; + frame_time /= 1000; +#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO + uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time); +#endif + log_i("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps)" +#if CONFIG_ESP_FACE_DETECT_ENABLED + ", %u+%u+%u+%u=%u %s%d" +#endif + , + (uint32_t)(_jpg_buf_len), + (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time, + avg_frame_time, 1000.0 / avg_frame_time +#if CONFIG_ESP_FACE_DETECT_ENABLED + , + (uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time, (uint32_t)encode_time, (uint32_t)process_time, + (detected) ? "DETECTED " : "", face_id +#endif + ); + } + +#if CONFIG_LED_ILLUMINATOR_ENABLED + isStreaming = false; + enable_led(false); +#endif + + return res; +} + +static esp_err_t parse_get(httpd_req_t *req, char **obuf) +{ + char *buf = NULL; + size_t buf_len = 0; + + buf_len = httpd_req_get_url_query_len(req) + 1; + if (buf_len > 1) { + buf = (char *)malloc(buf_len); + if (!buf) { + httpd_resp_send_500(req); + return ESP_FAIL; + } + if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) { + *obuf = buf; + return ESP_OK; + } + free(buf); + } + httpd_resp_send_404(req); + return ESP_FAIL; +} + +static esp_err_t cmd_handler(httpd_req_t *req) +{ + char *buf = NULL; + char variable[32]; + char value[32]; + + if (parse_get(req, &buf) != ESP_OK) { + return ESP_FAIL; + } + if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) != ESP_OK || + httpd_query_key_value(buf, "val", value, sizeof(value)) != ESP_OK) { + free(buf); + httpd_resp_send_404(req); + return ESP_FAIL; + } + free(buf); + + int val = atoi(value); + log_i("%s = %d", variable, val); + sensor_t *s = esp_camera_sensor_get(); + int res = 0; + + if (!strcmp(variable, "framesize")) { + if (s->pixformat == PIXFORMAT_JPEG) { + res = s->set_framesize(s, (framesize_t)val); + } + } + else if (!strcmp(variable, "quality")) + res = s->set_quality(s, val); + else if (!strcmp(variable, "contrast")) + res = s->set_contrast(s, val); + else if (!strcmp(variable, "brightness")) + res = s->set_brightness(s, val); + else if (!strcmp(variable, "saturation")) + res = s->set_saturation(s, val); + else if (!strcmp(variable, "gainceiling")) + res = s->set_gainceiling(s, (gainceiling_t)val); + else if (!strcmp(variable, "colorbar")) + res = s->set_colorbar(s, val); + else if (!strcmp(variable, "awb")) + res = s->set_whitebal(s, val); + else if (!strcmp(variable, "agc")) + res = s->set_gain_ctrl(s, val); + else if (!strcmp(variable, "aec")) + res = s->set_exposure_ctrl(s, val); + else if (!strcmp(variable, "hmirror")) + res = s->set_hmirror(s, val); + else if (!strcmp(variable, "vflip")) + res = s->set_vflip(s, val); + else if (!strcmp(variable, "awb_gain")) + res = s->set_awb_gain(s, val); + else if (!strcmp(variable, "agc_gain")) + res = s->set_agc_gain(s, val); + else if (!strcmp(variable, "aec_value")) + res = s->set_aec_value(s, val); + else if (!strcmp(variable, "aec2")) + res = s->set_aec2(s, val); + else if (!strcmp(variable, "dcw")) + res = s->set_dcw(s, val); + else if (!strcmp(variable, "bpc")) + res = s->set_bpc(s, val); + else if (!strcmp(variable, "wpc")) + res = s->set_wpc(s, val); + else if (!strcmp(variable, "raw_gma")) + res = s->set_raw_gma(s, val); + else if (!strcmp(variable, "lenc")) + res = s->set_lenc(s, val); + else if (!strcmp(variable, "special_effect")) + res = s->set_special_effect(s, val); + else if (!strcmp(variable, "wb_mode")) + res = s->set_wb_mode(s, val); + else if (!strcmp(variable, "ae_level")) + res = s->set_ae_level(s, val); +#if CONFIG_LED_ILLUMINATOR_ENABLED + else if (!strcmp(variable, "led_intensity")) { + led_duty = val; + if (isStreaming) + enable_led(true); + } +#endif + +#if CONFIG_ESP_FACE_DETECT_ENABLED + else if (!strcmp(variable, "face_detect")) { + detection_enabled = val; +#if CONFIG_ESP_FACE_RECOGNITION_ENABLED + if (!detection_enabled) { + recognition_enabled = 0; + } +#endif + } +#if CONFIG_ESP_FACE_RECOGNITION_ENABLED + else if (!strcmp(variable, "face_enroll")){ + is_enrolling = !is_enrolling; + log_i("Enrolling: %s", is_enrolling?"true":"false"); + } + else if (!strcmp(variable, "face_recognize")) { + recognition_enabled = val; + if (recognition_enabled) { + detection_enabled = val; + } + } +#endif +#endif + else { + log_i("Unknown command: %s", variable); + res = -1; + } + + if (res < 0) { + return httpd_resp_send_500(req); + } + + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + return httpd_resp_send(req, NULL, 0); +} + +static int print_reg(char * p, sensor_t * s, uint16_t reg, uint32_t mask){ + return sprintf(p, "\"0x%x\":%u,", reg, s->get_reg(s, reg, mask)); +} + +static esp_err_t status_handler(httpd_req_t *req) +{ + static char json_response[1024]; + + sensor_t *s = esp_camera_sensor_get(); + char *p = json_response; + *p++ = '{'; + + if(s->id.PID == OV5640_PID || s->id.PID == OV3660_PID){ + for(int reg = 0x3400; reg < 0x3406; reg+=2){ + p+=print_reg(p, s, reg, 0xFFF);//12 bit + } + p+=print_reg(p, s, 0x3406, 0xFF); + + p+=print_reg(p, s, 0x3500, 0xFFFF0);//16 bit + p+=print_reg(p, s, 0x3503, 0xFF); + p+=print_reg(p, s, 0x350a, 0x3FF);//10 bit + p+=print_reg(p, s, 0x350c, 0xFFFF);//16 bit + + for(int reg = 0x5480; reg <= 0x5490; reg++){ + p+=print_reg(p, s, reg, 0xFF); + } + + for(int reg = 0x5380; reg <= 0x538b; reg++){ + p+=print_reg(p, s, reg, 0xFF); + } + + for(int reg = 0x5580; reg < 0x558a; reg++){ + p+=print_reg(p, s, reg, 0xFF); + } + p+=print_reg(p, s, 0x558a, 0x1FF);//9 bit + } else if(s->id.PID == OV2640_PID){ + p+=print_reg(p, s, 0xd3, 0xFF); + p+=print_reg(p, s, 0x111, 0xFF); + p+=print_reg(p, s, 0x132, 0xFF); + } + + p += sprintf(p, "\"xclk\":%u,", s->xclk_freq_hz / 1000000); + p += sprintf(p, "\"pixformat\":%u,", s->pixformat); + p += sprintf(p, "\"framesize\":%u,", s->status.framesize); + p += sprintf(p, "\"quality\":%u,", s->status.quality); + p += sprintf(p, "\"brightness\":%d,", s->status.brightness); + p += sprintf(p, "\"contrast\":%d,", s->status.contrast); + p += sprintf(p, "\"saturation\":%d,", s->status.saturation); + p += sprintf(p, "\"sharpness\":%d,", s->status.sharpness); + p += sprintf(p, "\"special_effect\":%u,", s->status.special_effect); + p += sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode); + p += sprintf(p, "\"awb\":%u,", s->status.awb); + p += sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain); + p += sprintf(p, "\"aec\":%u,", s->status.aec); + p += sprintf(p, "\"aec2\":%u,", s->status.aec2); + p += sprintf(p, "\"ae_level\":%d,", s->status.ae_level); + p += sprintf(p, "\"aec_value\":%u,", s->status.aec_value); + p += sprintf(p, "\"agc\":%u,", s->status.agc); + p += sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain); + p += sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling); + p += sprintf(p, "\"bpc\":%u,", s->status.bpc); + p += sprintf(p, "\"wpc\":%u,", s->status.wpc); + p += sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma); + p += sprintf(p, "\"lenc\":%u,", s->status.lenc); + p += sprintf(p, "\"hmirror\":%u,", s->status.hmirror); + p += sprintf(p, "\"dcw\":%u,", s->status.dcw); + p += sprintf(p, "\"colorbar\":%u", s->status.colorbar); +#if CONFIG_LED_ILLUMINATOR_ENABLED + p += sprintf(p, ",\"led_intensity\":%u", led_duty); +#else + p += sprintf(p, ",\"led_intensity\":%d", -1); +#endif +#if CONFIG_ESP_FACE_DETECT_ENABLED + p += sprintf(p, ",\"face_detect\":%u", detection_enabled); +#if CONFIG_ESP_FACE_RECOGNITION_ENABLED + p += sprintf(p, ",\"face_enroll\":%u,", is_enrolling); + p += sprintf(p, "\"face_recognize\":%u", recognition_enabled); +#endif +#endif + *p++ = '}'; + *p++ = 0; + httpd_resp_set_type(req, "application/json"); + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + return httpd_resp_send(req, json_response, strlen(json_response)); +} + +static esp_err_t xclk_handler(httpd_req_t *req) +{ + char *buf = NULL; + char _xclk[32]; + + if (parse_get(req, &buf) != ESP_OK) { + return ESP_FAIL; + } + if (httpd_query_key_value(buf, "xclk", _xclk, sizeof(_xclk)) != ESP_OK) { + free(buf); + httpd_resp_send_404(req); + return ESP_FAIL; + } + free(buf); + + int xclk = atoi(_xclk); + log_i("Set XCLK: %d MHz", xclk); + + sensor_t *s = esp_camera_sensor_get(); + int res = s->set_xclk(s, LEDC_TIMER_0, xclk); + if (res) { + return httpd_resp_send_500(req); + } + + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + return httpd_resp_send(req, NULL, 0); +} + +static esp_err_t reg_handler(httpd_req_t *req) +{ + char *buf = NULL; + char _reg[32]; + char _mask[32]; + char _val[32]; + + if (parse_get(req, &buf) != ESP_OK) { + return ESP_FAIL; + } + if (httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK || + httpd_query_key_value(buf, "mask", _mask, sizeof(_mask)) != ESP_OK || + httpd_query_key_value(buf, "val", _val, sizeof(_val)) != ESP_OK) { + free(buf); + httpd_resp_send_404(req); + return ESP_FAIL; + } + free(buf); + + int reg = atoi(_reg); + int mask = atoi(_mask); + int val = atoi(_val); + log_i("Set Register: reg: 0x%02x, mask: 0x%02x, value: 0x%02x", reg, mask, val); + + sensor_t *s = esp_camera_sensor_get(); + int res = s->set_reg(s, reg, mask, val); + if (res) { + return httpd_resp_send_500(req); + } + + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + return httpd_resp_send(req, NULL, 0); +} + +static esp_err_t greg_handler(httpd_req_t *req) +{ + char *buf = NULL; + char _reg[32]; + char _mask[32]; + + if (parse_get(req, &buf) != ESP_OK) { + return ESP_FAIL; + } + if (httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK || + httpd_query_key_value(buf, "mask", _mask, sizeof(_mask)) != ESP_OK) { + free(buf); + httpd_resp_send_404(req); + return ESP_FAIL; + } + free(buf); + + int reg = atoi(_reg); + int mask = atoi(_mask); + sensor_t *s = esp_camera_sensor_get(); + int res = s->get_reg(s, reg, mask); + if (res < 0) { + return httpd_resp_send_500(req); + } + log_i("Get Register: reg: 0x%02x, mask: 0x%02x, value: 0x%02x", reg, mask, res); + + char buffer[20]; + const char * val = itoa(res, buffer, 10); + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + return httpd_resp_send(req, val, strlen(val)); +} + +static int parse_get_var(char *buf, const char * key, int def) +{ + char _int[16]; + if(httpd_query_key_value(buf, key, _int, sizeof(_int)) != ESP_OK){ + return def; + } + return atoi(_int); +} + +static esp_err_t pll_handler(httpd_req_t *req) +{ + char *buf = NULL; + + if (parse_get(req, &buf) != ESP_OK) { + return ESP_FAIL; + } + + int bypass = parse_get_var(buf, "bypass", 0); + int mul = parse_get_var(buf, "mul", 0); + int sys = parse_get_var(buf, "sys", 0); + int root = parse_get_var(buf, "root", 0); + int pre = parse_get_var(buf, "pre", 0); + int seld5 = parse_get_var(buf, "seld5", 0); + int pclken = parse_get_var(buf, "pclken", 0); + int pclk = parse_get_var(buf, "pclk", 0); + free(buf); + + log_i("Set Pll: bypass: %d, mul: %d, sys: %d, root: %d, pre: %d, seld5: %d, pclken: %d, pclk: %d", bypass, mul, sys, root, pre, seld5, pclken, pclk); + sensor_t *s = esp_camera_sensor_get(); + int res = s->set_pll(s, bypass, mul, sys, root, pre, seld5, pclken, pclk); + if (res) { + return httpd_resp_send_500(req); + } + + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + return httpd_resp_send(req, NULL, 0); +} + +static esp_err_t win_handler(httpd_req_t *req) +{ + char *buf = NULL; + + if (parse_get(req, &buf) != ESP_OK) { + return ESP_FAIL; + } + + int startX = parse_get_var(buf, "sx", 0); + int startY = parse_get_var(buf, "sy", 0); + int endX = parse_get_var(buf, "ex", 0); + int endY = parse_get_var(buf, "ey", 0); + int offsetX = parse_get_var(buf, "offx", 0); + int offsetY = parse_get_var(buf, "offy", 0); + int totalX = parse_get_var(buf, "tx", 0); + int totalY = parse_get_var(buf, "ty", 0); + int outputX = parse_get_var(buf, "ox", 0); + int outputY = parse_get_var(buf, "oy", 0); + bool scale = parse_get_var(buf, "scale", 0) == 1; + bool binning = parse_get_var(buf, "binning", 0) == 1; + free(buf); + + log_i("Set Window: Start: %d %d, End: %d %d, Offset: %d %d, Total: %d %d, Output: %d %d, Scale: %u, Binning: %u", startX, startY, endX, endY, offsetX, offsetY, totalX, totalY, outputX, outputY, scale, binning); + sensor_t *s = esp_camera_sensor_get(); + int res = s->set_res_raw(s, startX, startY, endX, endY, offsetX, offsetY, totalX, totalY, outputX, outputY, scale, binning); + if (res) { + return httpd_resp_send_500(req); + } + + httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); + return httpd_resp_send(req, NULL, 0); +} + +static esp_err_t index_handler(httpd_req_t *req) +{ + httpd_resp_set_type(req, "text/html"); + httpd_resp_set_hdr(req, "Content-Encoding", "gzip"); + sensor_t *s = esp_camera_sensor_get(); + if (s != NULL) { + if (s->id.PID == OV3660_PID) { + return httpd_resp_send(req, (const char *)index_ov3660_html_gz, index_ov3660_html_gz_len); + } else if (s->id.PID == OV5640_PID) { + return httpd_resp_send(req, (const char *)index_ov5640_html_gz, index_ov5640_html_gz_len); + } else { + return httpd_resp_send(req, (const char *)index_ov2640_html_gz, index_ov2640_html_gz_len); + } + } else { + log_e("Camera sensor not found"); + return httpd_resp_send_500(req); + } +} + +void startCameraServer() +{ + httpd_config_t config = HTTPD_DEFAULT_CONFIG(); + config.max_uri_handlers = 16; + + httpd_uri_t index_uri = { + .uri = "/", + .method = HTTP_GET, + .handler = index_handler, + .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 +#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 +#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 +#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 +#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 +#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 +#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 +#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 +#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 +#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 +#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_RECOGNITION_ENABLED + recognizer.set_partition(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, "fr"); + + // load ids from flash partition + recognizer.set_ids_from_flash(); +#endif + log_i("Starting web server on port: '%d'", config.server_port); + if (httpd_start(&camera_httpd, &config) == ESP_OK) + { + httpd_register_uri_handler(camera_httpd, &index_uri); + httpd_register_uri_handler(camera_httpd, &cmd_uri); + httpd_register_uri_handler(camera_httpd, &status_uri); + httpd_register_uri_handler(camera_httpd, &capture_uri); + httpd_register_uri_handler(camera_httpd, &bmp_uri); + + httpd_register_uri_handler(camera_httpd, &xclk_uri); + httpd_register_uri_handler(camera_httpd, ®_uri); + httpd_register_uri_handler(camera_httpd, &greg_uri); + httpd_register_uri_handler(camera_httpd, &pll_uri); + httpd_register_uri_handler(camera_httpd, &win_uri); + } + + config.server_port += 1; + config.ctrl_port += 1; + log_i("Starting stream server on port: '%d'", config.server_port); + if (httpd_start(&stream_httpd, &config) == ESP_OK) + { + httpd_register_uri_handler(stream_httpd, &stream_uri); + } +} + +void setupLedFlash(int pin) +{ + #if CONFIG_LED_ILLUMINATOR_ENABLED + ledcSetup(LED_LEDC_CHANNEL, 5000, 8); + ledcAttachPin(pin, LED_LEDC_CHANNEL); + #else + log_i("LED flash is disabled -> CONFIG_LED_ILLUMINATOR_ENABLED = 0"); + #endif +} diff --git a/ESP_sources/camera_index.h b/ESP_sources/camera_index.h new file mode 100644 index 0000000..fa42e69 --- /dev/null +++ b/ESP_sources/camera_index.h @@ -0,0 +1,1571 @@ + + +//File: index_ov2640.html.gz, Size: 6787 +#define index_ov2640_html_gz_len 6787 +const uint8_t index_ov2640_html_gz[] = { + 0x1F, 0x8B, 0x08, 0x08, 0x23, 0xFC, 0x69, 0x5E, 0x00, 0x03, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x5F, + 0x6F, 0x76, 0x32, 0x36, 0x34, 0x30, 0x2E, 0x68, 0x74, 0x6D, 0x6C, 0x00, 0xED, 0x3D, 0x6B, 0x73, + 0xDB, 0x46, 0x92, 0xDF, 0xFD, 0x2B, 0x60, 0x24, 0x6B, 0x92, 0x25, 0x92, 0x22, 0x29, 0x4A, 0x96, + 0x15, 0x89, 0x3E, 0x5B, 0x96, 0x1F, 0xB5, 0x76, 0xE2, 0xB5, 0x12, 0xC7, 0x5B, 0xA9, 0x2D, 0x07, + 0x04, 0x86, 0x24, 0x62, 0x10, 0xE0, 0x02, 0xA0, 0x48, 0x26, 0xA5, 0xDF, 0x71, 0x3F, 0xE8, 0xFE, + 0xD8, 0x75, 0xCF, 0x03, 0x18, 0x00, 0x83, 0x07, 0x49, 0x89, 0xF4, 0xFA, 0x8E, 0x4E, 0x45, 0x78, + 0x4C, 0xF7, 0xF4, 0xBB, 0x7B, 0x66, 0x30, 0xC0, 0xF9, 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0x6C, 0x0F, 0xFD, 0xF3, 0xCF, 0xA3, 0x21, 0x0C, 0x76, 0x38, 0x01, 0x04, 0xD7, + 0x5B, 0x35, 0xF6, 0xEE, 0xB2, 0xD8, 0x61, 0xE2, 0x8A, 0x14, 0xA9, 0x4A, 0x04, 0x8D, 0xDA, 0x72, + 0x6C, 0x31, 0xF9, 0xC8, 0xD1, 0x89, 0xD6, 0x7B, 0x69, 0x07, 0x13, 0x96, 0x34, 0xC1, 0x9E, 0xAF, + 0x8B, 0x96, 0xE5, 0xAC, 0x31, 0x04, 0x51, 0x3C, 0x5E, 0x23, 0x36, 0x91, 0x94, 0x0A, 0x76, 0x11, + 0x34, 0x08, 0x68, 0x17, 0x1D, 0x22, 0x85, 0xF6, 0xF8, 0x58, 0x99, 0x48, 0xFF, 0x02, 0x95, 0x5F, + 0x2C, 0x81, 0x88, 0x79, 0xA0, 0x72, 0x76, 0x0D, 0x33, 0xDC, 0xD0, 0x36, 0x21, 0xE3, 0xCD, 0xF2, + 0x19, 0xB8, 0x2D, 0x38, 0x1A, 0x4F, 0x8F, 0x73, 0x00, 0x68, 0x4E, 0xCC, 0x1E, 0x84, 0xA1, 0xB0, + 0x6C, 0xC3, 0xAE, 0xAF, 0x09, 0x89, 0x77, 0x66, 0x7C, 0x81, 0x66, 0x23, 0xD6, 0x4C, 0x40, 0x02, + 0x78, 0xD7, 0xD3, 0x05, 0x89, 0x20, 0xA0, 0xDD, 0x5E, 0xA8, 0x17, 0x04, 0xE2, 0x99, 0x68, 0xA4, + 0x95, 0xF4, 0xD9, 0xC4, 0xFA, 0x4C, 0x22, 0xA1, 0xB0, 0xF4, 0x19, 0xC4, 0xFA, 0xEC, 0xE1, 0x4E, + 0xD0, 0x42, 0xF0, 0xC4, 0x56, 0x24, 0x48, 0x92, 0x2D, 0x75, 0x22, 0x4A, 0x3D, 0x98, 0x49, 0xE5, + 0x40, 0x7C, 0xA6, 0xA9, 0x88, 0x28, 0x32, 0xA2, 0x28, 0x32, 0xC2, 0x45, 0x86, 0x00, 0x51, 0xE2, + 0x9E, 0x3F, 0xAD, 0x0B, 0xE3, 0xCA, 0x4F, 0x2F, 0x23, 0xCE, 0x56, 0xC3, 0x4C, 0x3A, 0xF9, 0x94, + 0x49, 0x60, 0x2F, 0x1B, 0x00, 0xDA, 0xCF, 0x61, 0xDC, 0x16, 0xD9, 0x5A, 0x0D, 0xD5, 0xD8, 0x0A, + 0xA6, 0x5C, 0x08, 0x10, 0xB1, 0x25, 0x9F, 0x98, 0x05, 0xAC, 0xBC, 0x22, 0x3E, 0x7F, 0xAE, 0xD3, + 0xB0, 0xC7, 0xDA, 0xC4, 0x35, 0xE6, 0xC4, 0x83, 0x09, 0x59, 0x48, 0xEC, 0x98, 0xDE, 0xCF, 0x1D, + 0xA2, 0x58, 0x33, 0x81, 0xC9, 0x70, 0x6A, 0x97, 0x0B, 0x1A, 0xB6, 0x14, 0xA0, 0x43, 0x3A, 0x32, + 0xA1, 0x83, 0x46, 0x6C, 0x6C, 0x0B, 0x4F, 0x95, 0x84, 0x15, 0xB6, 0x8E, 0x9C, 0x27, 0x42, 0xC0, + 0x26, 0x4A, 0x03, 0xAD, 0x97, 0x2C, 0x27, 0xB0, 0x84, 0x87, 0x31, 0x9B, 0x48, 0x6B, 0xC4, 0x06, + 0x21, 0x4B, 0xB1, 0x36, 0xA1, 0x83, 0x30, 0xF8, 0x34, 0x32, 0x73, 0x49, 0x61, 0xE5, 0xEA, 0xDA, + 0x7B, 0x8B, 0xE0, 0x34, 0x8F, 0xBF, 0xA9, 0xF3, 0xE2, 0xDB, 0xD7, 0x9A, 0xE3, 0x6A, 0x96, 0xB3, + 0x22, 0xB8, 0x59, 0x34, 0x58, 0x0A, 0xD6, 0x86, 0x04, 0x12, 0x4B, 0xC2, 0x26, 0xD3, 0x18, 0x87, + 0xFC, 0x99, 0xE9, 0x41, 0xEA, 0x8E, 0xEF, 0x93, 0x25, 0x8F, 0x6B, 0x61, 0x31, 0x34, 0x97, 0xBD, + 0xF5, 0xAD, 0x55, 0x31, 0x71, 0x32, 0x98, 0x48, 0x96, 0x8F, 0x39, 0x8F, 0x6B, 0xC1, 0x28, 0x6B, + 0xFA, 0x5E, 0x40, 0x84, 0xE1, 0xED, 0x07, 0x2B, 0x45, 0x39, 0x03, 0xB9, 0x82, 0x0C, 0xC1, 0x22, + 0x59, 0x46, 0xBC, 0xAE, 0x49, 0x53, 0x56, 0x23, 0xC9, 0xD0, 0x28, 0x96, 0x0B, 0xA5, 0x71, 0x3E, + 0x5D, 0x2B, 0x4C, 0xE2, 0x2C, 0x55, 0x67, 0xBF, 0xB3, 0xC3, 0xE0, 0xB1, 0x39, 0x76, 0x86, 0x8B, + 0x05, 0x83, 0x47, 0x67, 0x87, 0x33, 0x7F, 0x6E, 0x0D, 0x1E, 0xFD, 0x2F, 0x5E, 0x72, 0x0B, 0x89, + 0x42, 0x10, 0x01, 0x00 +}; + diff --git a/ESP_sources/camera_pins.h b/ESP_sources/camera_pins.h new file mode 100644 index 0000000..caa97be --- /dev/null +++ b/ESP_sources/camera_pins.h @@ -0,0 +1,317 @@ + +#if defined(CAMERA_MODEL_WROVER_KIT) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM -1 +#define XCLK_GPIO_NUM 21 +#define SIOD_GPIO_NUM 26 +#define SIOC_GPIO_NUM 27 + +#define Y9_GPIO_NUM 35 +#define Y8_GPIO_NUM 34 +#define Y7_GPIO_NUM 39 +#define Y6_GPIO_NUM 36 +#define Y5_GPIO_NUM 19 +#define Y4_GPIO_NUM 18 +#define Y3_GPIO_NUM 5 +#define Y2_GPIO_NUM 4 +#define VSYNC_GPIO_NUM 25 +#define HREF_GPIO_NUM 23 +#define PCLK_GPIO_NUM 22 + +#elif defined(CAMERA_MODEL_ESP_EYE) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM -1 +#define XCLK_GPIO_NUM 4 +#define SIOD_GPIO_NUM 18 +#define SIOC_GPIO_NUM 23 + +#define Y9_GPIO_NUM 36 +#define Y8_GPIO_NUM 37 +#define Y7_GPIO_NUM 38 +#define Y6_GPIO_NUM 39 +#define Y5_GPIO_NUM 35 +#define Y4_GPIO_NUM 14 +#define Y3_GPIO_NUM 13 +#define Y2_GPIO_NUM 34 +#define VSYNC_GPIO_NUM 5 +#define HREF_GPIO_NUM 27 +#define PCLK_GPIO_NUM 25 + +#define LED_GPIO_NUM 22 + +#elif defined(CAMERA_MODEL_M5STACK_PSRAM) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM 15 +#define XCLK_GPIO_NUM 27 +#define SIOD_GPIO_NUM 25 +#define SIOC_GPIO_NUM 23 + +#define Y9_GPIO_NUM 19 +#define Y8_GPIO_NUM 36 +#define Y7_GPIO_NUM 18 +#define Y6_GPIO_NUM 39 +#define Y5_GPIO_NUM 5 +#define Y4_GPIO_NUM 34 +#define Y3_GPIO_NUM 35 +#define Y2_GPIO_NUM 32 +#define VSYNC_GPIO_NUM 22 +#define HREF_GPIO_NUM 26 +#define PCLK_GPIO_NUM 21 + +#elif defined(CAMERA_MODEL_M5STACK_V2_PSRAM) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM 15 +#define XCLK_GPIO_NUM 27 +#define SIOD_GPIO_NUM 22 +#define SIOC_GPIO_NUM 23 + +#define Y9_GPIO_NUM 19 +#define Y8_GPIO_NUM 36 +#define Y7_GPIO_NUM 18 +#define Y6_GPIO_NUM 39 +#define Y5_GPIO_NUM 5 +#define Y4_GPIO_NUM 34 +#define Y3_GPIO_NUM 35 +#define Y2_GPIO_NUM 32 +#define VSYNC_GPIO_NUM 25 +#define HREF_GPIO_NUM 26 +#define PCLK_GPIO_NUM 21 + +#elif defined(CAMERA_MODEL_M5STACK_WIDE) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM 15 +#define XCLK_GPIO_NUM 27 +#define SIOD_GPIO_NUM 22 +#define SIOC_GPIO_NUM 23 + +#define Y9_GPIO_NUM 19 +#define Y8_GPIO_NUM 36 +#define Y7_GPIO_NUM 18 +#define Y6_GPIO_NUM 39 +#define Y5_GPIO_NUM 5 +#define Y4_GPIO_NUM 34 +#define Y3_GPIO_NUM 35 +#define Y2_GPIO_NUM 32 +#define VSYNC_GPIO_NUM 25 +#define HREF_GPIO_NUM 26 +#define PCLK_GPIO_NUM 21 + +#define LED_GPIO_NUM 2 + +#elif defined(CAMERA_MODEL_M5STACK_ESP32CAM) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM 15 +#define XCLK_GPIO_NUM 27 +#define SIOD_GPIO_NUM 25 +#define SIOC_GPIO_NUM 23 + +#define Y9_GPIO_NUM 19 +#define Y8_GPIO_NUM 36 +#define Y7_GPIO_NUM 18 +#define Y6_GPIO_NUM 39 +#define Y5_GPIO_NUM 5 +#define Y4_GPIO_NUM 34 +#define Y3_GPIO_NUM 35 +#define Y2_GPIO_NUM 17 +#define VSYNC_GPIO_NUM 22 +#define HREF_GPIO_NUM 26 +#define PCLK_GPIO_NUM 21 + +#elif defined(CAMERA_MODEL_M5STACK_UNITCAM) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM 15 +#define XCLK_GPIO_NUM 27 +#define SIOD_GPIO_NUM 25 +#define SIOC_GPIO_NUM 23 + +#define Y9_GPIO_NUM 19 +#define Y8_GPIO_NUM 36 +#define Y7_GPIO_NUM 18 +#define Y6_GPIO_NUM 39 +#define Y5_GPIO_NUM 5 +#define Y4_GPIO_NUM 34 +#define Y3_GPIO_NUM 35 +#define Y2_GPIO_NUM 32 +#define VSYNC_GPIO_NUM 22 +#define HREF_GPIO_NUM 26 +#define PCLK_GPIO_NUM 21 + +#elif defined(CAMERA_MODEL_AI_THINKER) +#define PWDN_GPIO_NUM 32 +#define RESET_GPIO_NUM -1 +#define XCLK_GPIO_NUM 0 +#define SIOD_GPIO_NUM 26 +#define SIOC_GPIO_NUM 27 + +#define Y9_GPIO_NUM 35 +#define Y8_GPIO_NUM 34 +#define Y7_GPIO_NUM 39 +#define Y6_GPIO_NUM 36 +#define Y5_GPIO_NUM 21 +#define Y4_GPIO_NUM 19 +#define Y3_GPIO_NUM 18 +#define Y2_GPIO_NUM 5 +#define VSYNC_GPIO_NUM 25 +#define HREF_GPIO_NUM 23 +#define PCLK_GPIO_NUM 22 + +// 4 for flash led or 33 for normal led +#define LED_GPIO_NUM 4 + +#elif defined(CAMERA_MODEL_TTGO_T_JOURNAL) +#define PWDN_GPIO_NUM 0 +#define RESET_GPIO_NUM 15 +#define XCLK_GPIO_NUM 27 +#define SIOD_GPIO_NUM 25 +#define SIOC_GPIO_NUM 23 + +#define Y9_GPIO_NUM 19 +#define Y8_GPIO_NUM 36 +#define Y7_GPIO_NUM 18 +#define Y6_GPIO_NUM 39 +#define Y5_GPIO_NUM 5 +#define Y4_GPIO_NUM 34 +#define Y3_GPIO_NUM 35 +#define Y2_GPIO_NUM 17 +#define VSYNC_GPIO_NUM 22 +#define HREF_GPIO_NUM 26 +#define PCLK_GPIO_NUM 21 + +#elif defined(CAMERA_MODEL_XIAO_ESP32S3) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM -1 +#define XCLK_GPIO_NUM 10 +#define SIOD_GPIO_NUM 40 +#define SIOC_GPIO_NUM 39 + +#define Y9_GPIO_NUM 48 +#define Y8_GPIO_NUM 11 +#define Y7_GPIO_NUM 12 +#define Y6_GPIO_NUM 14 +#define Y5_GPIO_NUM 16 +#define Y4_GPIO_NUM 18 +#define Y3_GPIO_NUM 17 +#define Y2_GPIO_NUM 15 +#define VSYNC_GPIO_NUM 38 +#define HREF_GPIO_NUM 47 +#define PCLK_GPIO_NUM 13 + +#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 + +#elif defined(CAMERA_MODEL_DFRobot_FireBeetle2_ESP32S3) || defined(CAMERA_MODEL_DFRobot_Romeo_ESP32S3) +#define PWDN_GPIO_NUM -1 +#define RESET_GPIO_NUM -1 +#define XCLK_GPIO_NUM 45 +#define SIOD_GPIO_NUM 1 +#define SIOC_GPIO_NUM 2 + +#define Y9_GPIO_NUM 48 +#define Y8_GPIO_NUM 46 +#define Y7_GPIO_NUM 8 +#define Y6_GPIO_NUM 7 +#define Y5_GPIO_NUM 4 +#define Y4_GPIO_NUM 41 +#define Y3_GPIO_NUM 40 +#define Y2_GPIO_NUM 39 +#define VSYNC_GPIO_NUM 6 +#define HREF_GPIO_NUM 42 +#define PCLK_GPIO_NUM 5 + +#else +#error "Camera model not selected" +#endif diff --git a/ESP_sources/partitions.csv b/ESP_sources/partitions.csv new file mode 100644 index 0000000..4f76ca6 --- /dev/null +++ b/ESP_sources/partitions.csv @@ -0,0 +1,5 @@ +# Name, Type, SubType, Offset, Size, Flags +nvs, data, nvs, 0x9000, 0x5000, +otadata, data, ota, 0xe000, 0x2000, +app0, app, ota_0, 0x10000, 0x3d0000, +fr, data, , 0x3e0000, 0x20000, diff --git a/README.md b/README.md new file mode 100644 index 0000000..d1bea57 --- /dev/null +++ b/README.md @@ -0,0 +1,3 @@ +# Stage: Stéréovision sur ESP32 + +Ce dépot contient les sources python pour le tracking ainsi que celles pour les ESP32 et le modèle 3D de l'étui qui permet de les maintenir en place. diff --git a/models/Holder V4.stl b/models/Holder V4.stl new file mode 100644 index 0000000..0c11469 Binary files /dev/null and b/models/Holder V4.stl differ diff --git a/tracking_sources/REAMDE.md b/tracking_sources/REAMDE.md new file mode 100644 index 0000000..0f3f324 --- /dev/null +++ b/tracking_sources/REAMDE.md @@ -0,0 +1,42 @@ +# Python sources for object tracking + + +## Installation + +### With Nix + +```bash + nix-shell +``` + +### Without Nix + +requirements : Conda + +```bash + conda create --yes -q -n stage python=3.10 -c conda-forge + conda activate stage + conda install --yes -f conda-requirements.txt -c conda-forge +``` +## Usage + + +Tracking: +```bash + python tracking.py +``` + +verify on a benchmarck of pictures +```bash + python verify.py +``` + +Graph results: +```bash + python graphing.py results.csv +``` + +Graph frametime: +```bash + python frametime.py +``` diff --git a/tracking_sources/conda-requirements.txt b/tracking_sources/conda-requirements.txt new file mode 100644 index 0000000..008d34d --- /dev/null +++ b/tracking_sources/conda-requirements.txt @@ -0,0 +1,7 @@ +opencv +ultralytics +numpy +pytorch +torchvision +ffmpeg +lap diff --git a/tracking_sources/core_functions.py b/tracking_sources/core_functions.py new file mode 100644 index 0000000..bf9930a --- /dev/null +++ b/tracking_sources/core_functions.py @@ -0,0 +1,5 @@ +import pandas as pd + +def read_table(path): + df=pd.read_csv(path) + return df.shape[0], df["percent"], df["angle"] diff --git a/tracking_sources/frametime.py b/tracking_sources/frametime.py new file mode 100644 index 0000000..d9ecb2a --- /dev/null +++ b/tracking_sources/frametime.py @@ -0,0 +1,31 @@ +import matplotlib.pyplot as plt + +def plot_graph(file_path): + # Read the file and extract the floats + with open(file_path, 'r') as file: + values1 = [] + values2 = [] + values3 = [] + for line in file: + float1, float2, float3 = map(float, line.strip().split()) + values1.append(float1) + values2.append(float2) + values3.append(float3) + + # Generate x-axis values (assuming each float pair is a data point) + x_values = list(range(1, len(values1) + 1)) + + # Plot the graph + plt.plot(x_values, values1, label='requete') + plt.plot(x_values, values2, label='traitement') # Plot the graph + plt.plot(x_values, values3, label='total') + plt.title('Temps pour traiter une image') + plt.xlabel("numero de l'image") + plt.ylabel('temps (s)') + plt.grid(True) + plt.legend() + plt.xlim(left=0) + plt.ylim(bottom=0) + plt.show() + +plot_graph("frametime.txt") diff --git a/tracking_sources/graphing.py b/tracking_sources/graphing.py new file mode 100644 index 0000000..d9280b4 --- /dev/null +++ b/tracking_sources/graphing.py @@ -0,0 +1,45 @@ +# Graphing script +import matplotlib.pyplot as plt +import numpy as np +import pandas as pd +import sys + + +# Read csv path +args = sys.argv +path = args[1] + +# open csv +df = pd.read_csv(path) +print(df) + + +# compute the error +df["dr1m1"] = abs(df["r1m1"] - df["reel"]) +df["dr2m1"] = abs(df["r2m1"] - df["reel"]) +df["dr3m1"] = abs(df["r3m1"] - df["reel"]) +df["dr4m1"] = abs(df["r4m1"] - df["reel"]) + + +# Plotting the distance seen vs real +plt.plot(df["reel"], df["reel"], label="Real") +plt.plot(df["reel"], df["r1m1"], label="r1m1") +plt.plot(df["reel"], df["r2m1"], label="r2m1") +plt.plot(df["reel"], df["r3m1"], label="r3m1") +plt.plot(df["reel"], df["r4m1"], label="r4m1") +plt.xlabel("Distance (m)") +plt.ylabel("Distance (m)") +plt.title("Real vs Seen Distance") +plt.legend() +plt.show() + +# Plotting the error over distance +# plt.plot(df["reel"], df["dr1m1"], label="r1m1") +# plt.plot(df["reel"], df["dr2m1"], label="r2m1") +# plt.plot(df["reel"], df["dr3m1"], label="r3m1") +plt.plot(df["reel"], df["dr4m1"], label="r4m1") +plt.xlabel("Distance (m)") +plt.ylabel("Error (m)") +plt.title("Tracking Error over Distance") +plt.legend() +plt.show() diff --git a/tracking_sources/results.csv b/tracking_sources/results.csv new file mode 100644 index 0000000..bce4508 --- /dev/null +++ b/tracking_sources/results.csv @@ -0,0 +1,10 @@ +reel,r1m1,r1m2,r2m1,r2m2,r3m1,r4m1 +2,1.92,1.72,1.8,1.72,2.02,2.21 +2.5,2.42,2.16,2.3,2.11,2.59,2.84 +3,3,2.6,2.78,2.53,3.16,3.49 +3.5,3.59,2.98,3.32,2.99,3.8,4.14 +4,4.24,3.45,3.94,3.29,4.43,4.84 +4.5,5.12,3.5,4.5,3.77,5.12,5.63 +5,5.63,4.14,5.1,4.27,5.83,6.25 +5.5,6.32,4.9,5.67,4.7,6.55,7.10 +6,7,5.19,6.32,5.1,,7.93 diff --git a/tracking_sources/shell.nix b/tracking_sources/shell.nix new file mode 100644 index 0000000..0af028d --- /dev/null +++ b/tracking_sources/shell.nix @@ -0,0 +1,28 @@ +{ pkgs ? import {}}: +let + fhs = pkgs.buildFHSUserEnv { + name = "my-fhs-environment"; + + targetPkgs = _: [ + pkgs.micromamba + pkgs.zlib + pkgs.libGL + pkgs.glib + pkgs.python310 + pkgs.pkg-config + ]; + + profile = '' + set -e + eval "$(micromamba shell hook --shell=posix)" + export MAMBA_ROOT_PREFIX=${builtins.getEnv "PWD"}/.mamba + if ! test -d $MAMBA_ROOT_PREFIX/envs/m2; then + micromamba create --yes -q -n m2 python=3.10 -c conda-forge + fi + micromamba activate m2 + micromamba install --yes -f conda-requirements.txt -c conda-forge + set +e + ''; + }; +in fhs.env + diff --git a/tracking_sources/tracking.py b/tracking_sources/tracking.py new file mode 100644 index 0000000..b71273d --- /dev/null +++ b/tracking_sources/tracking.py @@ -0,0 +1,257 @@ +import cv2 +import urllib.request +import requests +import numpy as np +import math +import pandas as pd +import asyncio +import time +import os +import glob +from core_functions import read_table +from ultralytics import YOLO + +def read_image_from_url(url): + try: + req = urllib.request.urlopen(url) + img_arr = np.asarray(bytearray(req.read()), dtype=np.uint8) + return cv2.imdecode(img_arr, -1) + except Exception as _: + print("URL Error") + exit(1) + +def read_image_from_fs(path): + return cv2.imread(path) + +async def analyze(model, img, name): + # Run YOLOv8 tracking on the frame, persisting tracks between frames + # results = model(img, conf=conf, classes=classes) + # results = model.track(img, conf=conf, classes=classes, persist=True) + results = model.track(img, conf=conf, classes=classes, persist=True, max_det=1, imgsz=1600) + + if draw: + # Visualize the results on the frame + annotated_frame = results[0].plot() + # Display the annotated frame + cv2.imshow(name, annotated_frame) + + # Gather the coordinates of the box + boxes = results[0].boxes + if len(boxes) == 0: + print("No objects detected in " + name) + return -1, -1 + + x1, _, x2, _ = boxes.xyxyn[0].numpy() + x = (x1 + x2) / 2 + width = x2 - x1 + + return x, width + +def interpolate(ratio): + # N = 9 + # cal_ratio = [0.06, 0.18, 0.28, 0.39, 0.49, 0.60, 0.70, 0.82, 0.92] + # cal_angledeg = [-25.27, -19.20, -13.46, -6.68, -0.58, 6.40, 12.37, 18.86, 24.24] + N, cal_ratio, cal_angledeg = read_table("configs/config4.csv") + if trace: + print(f"Interpolate {ratio}") + for i in range(1, N): + ratiomin = cal_ratio[i - 1] + ratiomax = cal_ratio[i] + anglemin = cal_angledeg[i - 1] + anglemax = cal_angledeg[i] + if ratiomin <= ratio < ratiomax: + if trace: + print(f" i={i}, Ratio[{i - 1}]={ratiomin}, Ratio[{i}]={ratiomax}") + print(f" i={i}, Angledeg[{i - 1}]={anglemin}, Angledeg[{i}]={anglemax}") + deltay = anglemax - anglemin + deltax = ratiomax - ratiomin + slope = deltay / deltax + if trace: + print(f" deltax={deltax}, deltay={deltay}, slope={slope}°/m") + delta = ratio - ratiomin + angle = anglemin + slope * delta + if trace: + print(f" delta={delta}, angle={angle}°") + return angle + print(f"Error: unable to interpolate {ratio}") + exit(0) + + +def estimate(leftd, rightd, alphar, betar, widthr, width): + alphadeg, betadeg, thetadeg = 0.0, 0.0, 0.0 + alpharad, betarad, thetarad = 0.0, 0.0, 0.0 + alphatan, betatan, thetatan = 0.0, 0.0, 0.0 + gammadeg, gammarad, gammatan = 0.0, 0.0, 0.0 + distance = 0.0 + if trace: + print("Estimation") + # interpolate to get angles + alphadeg = -interpolate(alphar) + if trace: + print(f" interpolate: alphar={alphar} (ratio) -> alphadeg={alphadeg}°") + betadeg = interpolate(betar) + if trace: + print(f"interpolate: betar={betar} (ratio) -> betadeg={betadeg}°") + gammadeg = interpolate(0.5 + widthr) + if trace: + print(f"interpolate: widthr={widthr} (ratio) -> gammadeg={gammadeg}°") + # convert to radians + alpharad = math.radians(alphadeg) + if trace: + print(f"to radians: alphadeg={alphadeg} -> alpharad={alpharad}") + betarad = math.radians(betadeg) + if trace: + print(f"to radians: betadeg={betadeg} -> betarad={betarad}") + # get tan + alphatan = math.tan(alpharad) + betatan = math.tan(betarad) + if trace: + print(f"tan(): alphatan={alphatan}, betatan={betatan}") + # (x, y) + y = (leftd + rightd) / (alphatan + betatan) + x = y * alphatan - leftd + if trace: + print(f"position: x={x}, y={y}") + # (distance, angle) + distance_1 = math.sqrt(x * x + y * y) + thetatan = x / y + thetarad = math.atan(thetatan) + thetadeg = math.degrees(thetarad) + print(f"distance={distance_1}, thetatan={thetatan}, theta={thetadeg}, thetarad={thetarad}") + # print(f"distance = {distance}") + gammarad = math.radians(gammadeg) + gammatan = math.tan(gammarad) + distance_2 = width / gammatan + print(f"distance={distance_2}, gammatan={gammatan}, gamma={gammadeg}, gammarad={gammarad}") + return distance_1, distance_2, thetadeg + + + + +async def get_image_stream(cap): + ret, img = cap.read() + if not ret: + print("Error: Unable to read frame.") + exit() + return img + +async def get_images_stream(l_cap, r_cap, l_imgs_buffer, r_imgs_buffer, n_image): + current_img = n_image % 2 + l_img = await l_imgs_buffer[current_img] + r_img = await r_imgs_buffer[current_img] + l_imgs_buffer[current_img] = asyncio.create_task(get_image_stream(l_cap)) + r_imgs_buffer[current_img] = asyncio.create_task(get_image_stream(r_cap)) + return l_img, r_img + +def init_stream(url): + # Set quality + requests.get(url + "/control?var=framesize&val=13") + # requests.get(url + "/control?var=framesize&val=8") + # Open stream + stream_url = url + ":81/stream" + print(stream_url) + cap = cv2.VideoCapture(stream_url) + if not cap.isOpened(): + print("Error: Unable to open the stream.") + exit() + return cap + + +async def main(): + print("Loading models") + l_model = YOLO('yolov8n.pt') + r_model = YOLO('yolov8n.pt') + l_model() + r_model() + + + print("Init streams") + l_cap = init_stream(l_url) + r_cap = init_stream(r_url) + ti1 = asyncio.create_task(get_image_stream(l_cap)) + ti2 = asyncio.create_task(get_image_stream(r_cap)) + + n_images = -1 + + results = (0, 0, 0) + l_img_save = None + r_img_save = None + + + print("Loop start") + init_time = time.time() + with open("frametime.txt", 'w') as file: + while True: + n_images += 1 + st_request = time.time() + + l_img = await ti1 + r_img = await ti2 + ti1 = asyncio.create_task(get_image_stream(l_cap)) + ti2 = asyncio.create_task(get_image_stream(r_cap)) + dt_request = time.time() - st_request + print(f"imgs read in {dt_request}") + + + st_analyze = time.time() + t1 = asyncio.create_task(analyze(l_model, l_img, "left")) + t2 = asyncio.create_task(analyze(r_model, r_img, "right")) + lx, l_width = await t1 + rx, r_width = await t2 + + if cv2.waitKey(1) & 0xFF == ord("q"): + break + + if n_images == 100: + break + + + + width = (l_width + r_width) / 2 + if lx != -1 and rx != -1: + results = estimate(0, 0.72, lx, rx, width, obj_size) + l_img_save = l_img + r_img_save = r_img + + dt_analyze = time.time() - st_analyze + print(f"analyse done in {dt_analyze}") + dt_total = time.time() - st_request + print(f"total time {dt_total}") + file.write(f"{dt_request} {dt_analyze} {dt_total}\n") + print("\n\n\n") + + l_cap.release() + r_cap.release() + cv2.destroyAllWindows() + + print("\n\n\n") + + total_time = time.time() - init_time + print(f"total time {total_time}") + print(f"avrg time {total_time / n_images}") + print(f"resutlts {results}") + + folder_path = 'imgs/' + num_files = len(glob.glob(os.path.join(folder_path, '*'))) / 2 + cv2.imwrite(folder_path + str(num_files) + "_left.png", l_img_save) + cv2.imwrite(folder_path + str(num_files) + "_right.png", r_img_save) + print("done saving") + + + + +draw = True; +trace = False; + +# classes = None +# classes = [32] # Sport ball +classes = [39] # Sport ball +# classes = [64] # Mouse + +conf = 0.05 +obj_size = 0.08 + +l_url = "http://192.168.0.151" +r_url = "http://192.168.0.152" + +asyncio.run(main()) diff --git a/tracking_sources/verif.py b/tracking_sources/verif.py new file mode 100644 index 0000000..9e4e5e0 --- /dev/null +++ b/tracking_sources/verif.py @@ -0,0 +1,168 @@ +import os +import cv2 +import math +from core_functions import read_table +from ultralytics import YOLO +import matplotlib.pyplot as plt + +def analyze(model, img, name): + # Run YOLOv8 tracking on the frame, persisting tracks between frames + # results = model(img, conf=conf, classes=classes) + # results = model.track(img, conf=conf, classes=classes, persist=True) + results = model.track(img, conf=0.05, classes=[39], persist=True, max_det=1, imgsz=1600) + + # Gather the coordinates of the box + boxes = results[0].boxes + if len(boxes) == 0: + print("No objects detected in " + name) + return -1, -1 + + x1, _, x2, _ = boxes.xyxyn[0].numpy() + x = (x1 + x2) / 2 + width = x2 - x1 + + return x, width + +def interpolate(ratio): + # N = 9 + # cal_ratio = [0.06, 0.18, 0.28, 0.39, 0.49, 0.60, 0.70, 0.82, 0.92] + # cal_angledeg = [-25.27, -19.20, -13.46, -6.68, -0.58, 6.40, 12.37, 18.86, 24.24] + N, cal_ratio, cal_angledeg = read_table("configs/config4.csv") + print(cal_angledeg) + if trace: + print(f"Interpolate {ratio}") + for i in range(1, N): + ratiomin = cal_ratio[i - 1] + ratiomax = cal_ratio[i] + anglemin = cal_angledeg[i - 1] + anglemax = cal_angledeg[i] + if ratiomin <= ratio < ratiomax: + if trace: + print(f" i={i}, Ratio[{i - 1}]={ratiomin}, Ratio[{i}]={ratiomax}") + print(f" i={i}, Angledeg[{i - 1}]={anglemin}, Angledeg[{i}]={anglemax}") + deltay = anglemax - anglemin + deltax = ratiomax - ratiomin + slope = deltay / deltax + if trace: + print(f" deltax={deltax}, deltay={deltay}, slope={slope}°/m") + delta = ratio - ratiomin + angle = anglemin + slope * delta + if trace: + print(f" delta={delta}, angle={angle}°") + return angle + print(f"Error: unable to interpolate {ratio}") + exit(0) + + +def estimate(leftd, rightd, alphar, betar, widthr, width): + alphadeg, betadeg, thetadeg = 0.0, 0.0, 0.0 + alpharad, betarad, thetarad = 0.0, 0.0, 0.0 + alphatan, betatan, thetatan = 0.0, 0.0, 0.0 + gammadeg, gammarad, gammatan = 0.0, 0.0, 0.0 + distance = 0.0 + if trace: + print("Estimation") + # interpolate to get angles + alphadeg = -interpolate(alphar) + if trace: + print(f" interpolate: alphar={alphar} (ratio) -> alphadeg={alphadeg}°") + betadeg = interpolate(betar) + if trace: + print(f"interpolate: betar={betar} (ratio) -> betadeg={betadeg}°") + gammadeg = interpolate(0.5 + widthr) + if trace: + print(f"interpolate: widthr={widthr} (ratio) -> gammadeg={gammadeg}°") + # convert to radians + alpharad = math.radians(alphadeg) + if trace: + print(f"to radians: alphadeg={alphadeg} -> alpharad={alpharad}") + betarad = math.radians(betadeg) + if trace: + print(f"to radians: betadeg={betadeg} -> betarad={betarad}") + # get tan + alphatan = math.tan(alpharad) + betatan = math.tan(betarad) + if trace: + print(f"tan(): alphatan={alphatan}, betatan={betatan}") + # (x, y) + y = (leftd + rightd) / (alphatan + betatan) + x = y * alphatan - leftd + if trace: + print(f"position: x={x}, y={y}") + # (distance, angle) + distance_1 = math.sqrt(x * x + y * y) + thetatan = x / y + thetarad = math.atan(thetatan) + thetadeg = math.degrees(thetarad) + print(f"distance={distance_1}, thetatan={thetatan}, theta={thetadeg}, thetarad={thetarad}") + # print(f"distance = {distance}") + gammarad = math.radians(gammadeg) + gammatan = math.tan(gammarad) + distance_2 = width / gammatan + print(f"distance={distance_2}, gammatan={gammatan}, gamma={gammadeg}, gammarad={gammarad}") + return distance_1, distance_2, thetadeg + + +trace = False +folder_path = "imgs/" +model = YOLO('yolov8n.pt') + +image_files = [f for f in os.listdir(folder_path) if os.path.isfile(os.path.join(folder_path, f)) and f.lower().endswith(('.png', '.jpg', '.jpeg', '.bmp', '.tiff', '.tif'))] + +# Sort the image files to maintain a consistent order +image_files.sort() + +dist = [2, 2.5, 3, 3.5, 4, 4.5, 5, 5.5, 6] +t_results = [] + +# Iterate over the images in pairs +for i in range(0, len(image_files), 2): + # Check if there are at least two images remaining + if i + 1 < len(image_files): + img1_path = os.path.join(folder_path, image_files[i]) + img2_path = os.path.join(folder_path, image_files[i + 1]) + + # Read the images + img1 = cv2.imread(img1_path) + img2 = cv2.imread(img2_path) + + # Process the images (example: print their names) + print(f'Processing images: {image_files[i]} and {image_files[i + 1]}') + + lx, l_width = analyze(model, img1, "left") + rx, r_width = analyze(model, img2, "right") + width = (l_width + r_width) / 2 + + results = estimate(0, 0.72, lx, rx, width, 0.08) + print("\n\n\n") + t_results.append(results[0]) + + + # (Optional) Display the images + cv2.imshow('Image 1', img1) + cv2.imshow('Image 2', img2) + else: + # If there's an odd number of images, the last one will be left without a pair + print(f'Single image left without a pair: {image_files[i]}') + +print("results") +print(t_results) + +errors = [abs(dist[i]-t_results[i]) for i in range(len(dist))] +print("errors") +print(errors) + +cv2.waitKey(0) # Wait for a key press to close the images +cv2.destroyAllWindows() +# Plotting the error over distance +# plt.plot(df["reel"], df["dr1m1"], label="r1m1") +# plt.plot(df["reel"], df["dr2m1"], label="r2m1") +# plt.plot(df["reel"], df["dr3m1"], label="r3m1") +plt.plot(dist, errors) +plt.xlabel("Distance (m)") +plt.ylabel("Error (m)") +plt.title("Tracking Error over Distance") +plt.legend() +plt.show() + + diff --git a/tracking_sources/yolov8n.pt b/tracking_sources/yolov8n.pt new file mode 100644 index 0000000..d61ef50 Binary files /dev/null and b/tracking_sources/yolov8n.pt differ