forked from espressif/arduino-esp32
Update IDF to e931fe9 and add esp-face (#2291)
* Update IDF to e931fe9 and add esp-face * Fix PIO builds fail because of sketch size * Fix example build failing for Arduino
This commit is contained in:
Me No Dev
GitHub
@ -18,6 +18,23 @@
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#include "camera_index.h"
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#include "Arduino.h"
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#include "fb_gfx.h"
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#include "fd_forward.h"
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#include "dl_lib.h"
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#include "fr_forward.h"
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#define ENROLL_CONFIRM_TIMES 5
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#define FACE_ID_SAVE_NUMBER 7
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#define FACE_COLOR_WHITE 0x00FFFFFF
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#define FACE_COLOR_BLACK 0x00000000
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#define FACE_COLOR_RED 0x000000FF
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#define FACE_COLOR_GREEN 0x0000FF00
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#define FACE_COLOR_BLUE 0x00FF0000
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#define FACE_COLOR_YELLOW (FACE_COLOR_RED | FACE_COLOR_GREEN)
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#define FACE_COLOR_CYAN (FACE_COLOR_BLUE | FACE_COLOR_GREEN)
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#define FACE_COLOR_PURPLE (FACE_COLOR_BLUE | FACE_COLOR_RED)
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typedef struct {
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size_t size; //number of values used for filtering
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size_t index; //current value index
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@ -40,6 +57,12 @@ static ra_filter_t ra_filter;
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httpd_handle_t stream_httpd = NULL;
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httpd_handle_t camera_httpd = NULL;
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static mtmn_config_t mtmn_config = {0};
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static int8_t detection_enabled = 0;
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static int8_t recognition_enabled = 0;
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static int8_t is_enrolling = 0;
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static face_id_list id_list = {0};
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static ra_filter_t * ra_filter_init(ra_filter_t * filter, size_t sample_size){
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memset(filter, 0, sizeof(ra_filter_t));
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@ -68,6 +91,119 @@ static int ra_filter_run(ra_filter_t * filter, int value){
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return filter->sum / filter->count;
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}
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static void rgb_print(dl_matrix3du_t *image_matrix, uint32_t color, const char * str){
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fb_data_t fb;
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fb.width = image_matrix->w;
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fb.height = image_matrix->h;
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fb.data = image_matrix->item;
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fb.bytes_per_pixel = 3;
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fb.format = FB_BGR888;
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fb_gfx_print(&fb, (fb.width - (strlen(str) * 14)) / 2, 10, color, str);
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}
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static int rgb_printf(dl_matrix3du_t *image_matrix, uint32_t color, const char *format, ...){
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char loc_buf[64];
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char * temp = loc_buf;
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int len;
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va_list arg;
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va_list copy;
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va_start(arg, format);
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va_copy(copy, arg);
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len = vsnprintf(loc_buf, sizeof(loc_buf), format, arg);
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va_end(copy);
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if(len >= sizeof(loc_buf)){
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temp = (char*)malloc(len+1);
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if(temp == NULL) {
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return 0;
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}
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}
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vsnprintf(temp, len+1, format, arg);
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va_end(arg);
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rgb_print(image_matrix, color, temp);
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if(len > 64){
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free(temp);
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}
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return len;
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}
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static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes, int face_id){
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int x, y, w, h, i;
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uint32_t color = FACE_COLOR_YELLOW;
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if(face_id < 0){
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color = FACE_COLOR_RED;
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} else if(face_id > 0){
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color = FACE_COLOR_GREEN;
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}
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fb_data_t fb;
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fb.width = image_matrix->w;
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fb.height = image_matrix->h;
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fb.data = image_matrix->item;
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fb.bytes_per_pixel = 3;
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fb.format = FB_BGR888;
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for (i = 0; i < boxes->len; i++){
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// rectangle box
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x = (int)boxes->box[i].box_p[0];
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y = (int)boxes->box[i].box_p[1];
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w = (int)boxes->box[i].box_p[2] - x + 1;
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h = (int)boxes->box[i].box_p[3] - y + 1;
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fb_gfx_drawFastHLine(&fb, x, y, w, color);
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fb_gfx_drawFastHLine(&fb, x, y+h-1, w, color);
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fb_gfx_drawFastVLine(&fb, x, y, h, color);
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fb_gfx_drawFastVLine(&fb, x+w-1, y, h, color);
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#if 0
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// landmark
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int x0, y0, j;
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for (j = 0; j < 10; j+=2) {
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x0 = (int)boxes->landmark[i].landmark_p[j];
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y0 = (int)boxes->landmark[i].landmark_p[j+1];
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fb_gfx_fillRect(&fb, x0, y0, 3, 3, color);
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}
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#endif
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}
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}
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static int run_face_recognition(dl_matrix3du_t *image_matrix, box_array_t *net_boxes){
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dl_matrix3du_t *aligned_face = NULL;
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int matched_id = 0;
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aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3);
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if(!aligned_face){
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Serial.println("Could not allocate face recognition buffer");
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return matched_id;
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}
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if (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK){
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if (is_enrolling == 1){
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int8_t left_sample_face = enroll_face(&id_list, aligned_face);
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if(left_sample_face == (ENROLL_CONFIRM_TIMES - 1)){
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Serial.printf("Enrolling Face ID: %d\n", id_list.tail);
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}
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Serial.printf("Enrolling Face ID: %d sample %d\n", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
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rgb_printf(image_matrix, FACE_COLOR_CYAN, "ID[%u] Sample[%u]", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
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if (left_sample_face == 0){
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is_enrolling = 0;
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Serial.printf("Enrolled Face ID: %d\n", id_list.tail);
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}
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} else {
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matched_id = recognize_face(&id_list, aligned_face);
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if (matched_id >= 0) {
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Serial.printf("Match Face ID: %u\n", matched_id);
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rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello Subject %u", matched_id);
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} else {
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Serial.println("No Match Found");
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rgb_print(image_matrix, FACE_COLOR_RED, "Intruder Alert!");
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matched_id = -1;
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}
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}
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} else {
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Serial.println("Face Not Aligned");
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//rgb_print(image_matrix, FACE_COLOR_YELLOW, "Human Detected");
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}
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dl_matrix3du_free(aligned_face);
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return matched_id;
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}
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static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){
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jpg_chunking_t *j = (jpg_chunking_t *)arg;
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if(!index){
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@ -87,7 +223,7 @@ static esp_err_t capture_handler(httpd_req_t *req){
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fb = esp_camera_fb_get();
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if (!fb) {
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Serial.printf("Camera capture failed");
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Serial.println("Camera capture failed");
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httpd_resp_send_500(req);
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return ESP_FAIL;
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}
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@ -95,19 +231,73 @@ static esp_err_t capture_handler(httpd_req_t *req){
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httpd_resp_set_type(req, "image/jpeg");
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httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");
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size_t fb_len = 0;
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if(fb->format == PIXFORMAT_JPEG){
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fb_len = fb->len;
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res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
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} else {
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jpg_chunking_t jchunk = {req, 0};
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res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
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httpd_resp_send_chunk(req, NULL, 0);
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fb_len = jchunk.len;
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size_t out_len, out_width, out_height;
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uint8_t * out_buf;
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bool s;
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bool detected = false;
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int face_id = 0;
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if(!detection_enabled || fb->width > 400){
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size_t fb_len = 0;
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if(fb->format == PIXFORMAT_JPEG){
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fb_len = fb->len;
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res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
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} else {
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jpg_chunking_t jchunk = {req, 0};
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res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
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httpd_resp_send_chunk(req, NULL, 0);
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fb_len = jchunk.len;
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}
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esp_camera_fb_return(fb);
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int64_t fr_end = esp_timer_get_time();
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Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
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return res;
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}
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dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
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if (!image_matrix) {
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esp_camera_fb_return(fb);
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Serial.println("dl_matrix3du_alloc failed");
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httpd_resp_send_500(req);
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return ESP_FAIL;
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}
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out_buf = image_matrix->item;
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out_len = fb->width * fb->height * 3;
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out_width = fb->width;
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out_height = fb->height;
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s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
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esp_camera_fb_return(fb);
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if(!s){
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dl_matrix3du_free(image_matrix);
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Serial.println("to rgb888 failed");
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httpd_resp_send_500(req);
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return ESP_FAIL;
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}
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box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config);
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if (net_boxes){
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detected = true;
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if(recognition_enabled){
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face_id = run_face_recognition(image_matrix, net_boxes);
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}
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draw_face_boxes(image_matrix, net_boxes, face_id);
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free(net_boxes->box);
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free(net_boxes->landmark);
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free(net_boxes);
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}
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jpg_chunking_t jchunk = {req, 0};
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s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);
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dl_matrix3du_free(image_matrix);
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if(!s){
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Serial.println("JPEG compression failed");
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return ESP_FAIL;
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}
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int64_t fr_end = esp_timer_get_time();
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Serial.printf("JPG: %uB %ums", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
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Serial.printf("FACE: %uB %ums %s%d\n", (uint32_t)(jchunk.len), (uint32_t)((fr_end - fr_start)/1000), detected?"DETECTED ":"", face_id);
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return res;
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}
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@ -117,6 +307,14 @@ static esp_err_t stream_handler(httpd_req_t *req){
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size_t _jpg_buf_len = 0;
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uint8_t * _jpg_buf = NULL;
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char * part_buf[64];
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dl_matrix3du_t *image_matrix = NULL;
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bool detected = false;
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int face_id = 0;
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int64_t fr_start = 0;
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int64_t fr_ready = 0;
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int64_t fr_face = 0;
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int64_t fr_recognize = 0;
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int64_t fr_encode = 0;
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static int64_t last_frame = 0;
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if(!last_frame) {
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@ -129,22 +327,76 @@ static esp_err_t stream_handler(httpd_req_t *req){
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}
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while(true){
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detected = false;
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face_id = 0;
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fb = esp_camera_fb_get();
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if (!fb) {
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Serial.printf("Camera capture failed");
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Serial.println("Camera capture failed");
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res = ESP_FAIL;
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} else {
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if(fb->format != PIXFORMAT_JPEG){
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bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
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esp_camera_fb_return(fb);
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fb = NULL;
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if(!jpeg_converted){
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Serial.printf("JPEG compression failed");
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res = ESP_FAIL;
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fr_start = esp_timer_get_time();
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fr_ready = fr_start;
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fr_face = fr_start;
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fr_encode = fr_start;
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fr_recognize = fr_start;
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if(!detection_enabled || fb->width > 400){
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if(fb->format != PIXFORMAT_JPEG){
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bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
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esp_camera_fb_return(fb);
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fb = NULL;
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if(!jpeg_converted){
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Serial.println("JPEG compression failed");
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res = ESP_FAIL;
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}
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} else {
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_jpg_buf_len = fb->len;
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_jpg_buf = fb->buf;
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}
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} else {
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_jpg_buf_len = fb->len;
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_jpg_buf = fb->buf;
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image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
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if (!image_matrix) {
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Serial.println("dl_matrix3du_alloc failed");
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res = ESP_FAIL;
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} else {
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if(!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item)){
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Serial.println("fmt2rgb888 failed");
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res = ESP_FAIL;
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} else {
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fr_ready = esp_timer_get_time();
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box_array_t *net_boxes = NULL;
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if(detection_enabled){
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net_boxes = face_detect(image_matrix, &mtmn_config);
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}
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fr_face = esp_timer_get_time();
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fr_recognize = fr_face;
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if (net_boxes || fb->format != PIXFORMAT_JPEG){
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if(net_boxes){
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detected = true;
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if(recognition_enabled){
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face_id = run_face_recognition(image_matrix, net_boxes);
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}
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fr_recognize = esp_timer_get_time();
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draw_face_boxes(image_matrix, net_boxes, face_id);
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free(net_boxes->box);
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free(net_boxes->landmark);
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free(net_boxes);
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}
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if(!fmt2jpg(image_matrix->item, fb->width*fb->height*3, fb->width, fb->height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len)){
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Serial.println("fmt2jpg failed");
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res = ESP_FAIL;
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}
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esp_camera_fb_return(fb);
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fb = NULL;
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} else {
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_jpg_buf = fb->buf;
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_jpg_buf_len = fb->len;
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}
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fr_encode = esp_timer_get_time();
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}
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dl_matrix3du_free(image_matrix);
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}
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}
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}
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if(res == ESP_OK){
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@ -170,14 +422,22 @@ static esp_err_t stream_handler(httpd_req_t *req){
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}
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int64_t fr_end = esp_timer_get_time();
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int64_t ready_time = (fr_ready - fr_start)/1000;
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int64_t face_time = (fr_face - fr_ready)/1000;
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int64_t recognize_time = (fr_recognize - fr_face)/1000;
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int64_t encode_time = (fr_encode - fr_recognize)/1000;
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int64_t process_time = (fr_encode - fr_start)/1000;
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int64_t frame_time = fr_end - last_frame;
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last_frame = fr_end;
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frame_time /= 1000;
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uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
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Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps)"
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,(uint32_t)(_jpg_buf_len),
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Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps), %u+%u+%u+%u=%u %s%d\n",
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(uint32_t)(_jpg_buf_len),
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(uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
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avg_frame_time, 1000.0 / avg_frame_time
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avg_frame_time, 1000.0 / avg_frame_time,
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(uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time, (uint32_t)encode_time, (uint32_t)process_time,
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(detected)?"DETECTED ":"", face_id
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);
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}
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@ -247,6 +507,19 @@ static esp_err_t cmd_handler(httpd_req_t *req){
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else if(!strcmp(variable, "special_effect")) res = s->set_special_effect(s, val);
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else if(!strcmp(variable, "wb_mode")) res = s->set_wb_mode(s, val);
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else if(!strcmp(variable, "ae_level")) res = s->set_ae_level(s, val);
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else if(!strcmp(variable, "face_detect")) {
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detection_enabled = val;
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if(!detection_enabled) {
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recognition_enabled = 0;
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}
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}
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else if(!strcmp(variable, "face_enroll")) is_enrolling = val;
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else if(!strcmp(variable, "face_recognize")) {
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recognition_enabled = val;
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if(recognition_enabled){
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detection_enabled = val;
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}
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}
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else {
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res = -1;
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}
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@ -286,9 +559,13 @@ static esp_err_t status_handler(httpd_req_t *req){
|
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p+=sprintf(p, "\"wpc\":%u,", s->status.wpc);
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p+=sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);
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p+=sprintf(p, "\"lenc\":%u,", s->status.lenc);
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p+=sprintf(p, "\"vflip\":%u,", s->status.vflip);
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p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror);
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p+=sprintf(p, "\"dcw\":%u,", s->status.dcw);
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p+=sprintf(p, "\"colorbar\":%u", s->status.colorbar);
|
||||
p+=sprintf(p, "\"colorbar\":%u,", s->status.colorbar);
|
||||
p+=sprintf(p, "\"face_detect\":%u,", detection_enabled);
|
||||
p+=sprintf(p, "\"face_enroll\":%u,", is_enrolling);
|
||||
p+=sprintf(p, "\"face_recognize\":%u", recognition_enabled);
|
||||
*p++ = '}';
|
||||
*p++ = 0;
|
||||
httpd_resp_set_type(req, "application/json");
|
||||
@ -342,7 +619,21 @@ void startCameraServer(){
|
||||
|
||||
|
||||
ra_filter_init(&ra_filter, 20);
|
||||
Serial.printf("Starting web server on port: '%d'", config.server_port);
|
||||
|
||||
mtmn_config.min_face = 80;
|
||||
mtmn_config.pyramid = 0.7;
|
||||
mtmn_config.p_threshold.score = 0.6;
|
||||
mtmn_config.p_threshold.nms = 0.7;
|
||||
mtmn_config.r_threshold.score = 0.7;
|
||||
mtmn_config.r_threshold.nms = 0.7;
|
||||
mtmn_config.r_threshold.candidate_number = 4;
|
||||
mtmn_config.o_threshold.score = 0.7;
|
||||
mtmn_config.o_threshold.nms = 0.4;
|
||||
mtmn_config.o_threshold.candidate_number = 1;
|
||||
|
||||
face_id_init(&id_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES);
|
||||
|
||||
Serial.printf("Starting web server on port: '%d'\n", 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);
|
||||
@ -352,7 +643,7 @@ void startCameraServer(){
|
||||
|
||||
config.server_port += 1;
|
||||
config.ctrl_port += 1;
|
||||
Serial.printf("Starting stream server on port: '%d'", config.server_port);
|
||||
Serial.printf("Starting stream server on port: '%d'\n", config.server_port);
|
||||
if (httpd_start(&stream_httpd, &config) == ESP_OK) {
|
||||
httpd_register_uri_handler(stream_httpd, &stream_uri);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user