Arduino ESP32-CAM 学习之旅③ 简单剖析官方案例源码,揭开ESP32-CAM神秘面纱

博主联系方式汇总(非诚勿扰)

  • Arduino ESP32-CAM 学习之旅① 认识ESP32-CAM,搭建环境,运行第一个程序
  • Arduino ESP32-CAM 学习之旅② ESP32-CAM开发板

文章目录

    • 1.前言
      • 1.1 OpenMv
    • 2. 源码学习
      • 2.1 源码位置
      • 2.2 源码结构
        • 2.2.1 camera_index.h —— web页面Gzip源码
        • 2.2.2 camera_pins.h —— 摄像头引脚映射关系
        • 2.2.3 CameraWebServer.ino —— Arduino代码
        • 2.2.4 app_httpd.cpp —— 整个http Server 和 Image Stream Server 处理过程(核心代码)
      • 2.3 源码剖析① —— CameraWebServer
        • 2.3.1 第一步,解读 esp_camera 关键代码
          • 2.3.1.1 esp_camera_init —— 初始化摄像头驱动
          • 2.3.1.2 esp_camera_deinit —— 重新初始化摄像头驱动
          • 2.3.1.3 esp_camera_fb_get—— 获取摄像头帧数据,创建帧数组返回
          • 2.3.1.4 esp_camera_fb_return —— 获取摄像头帧数据,复用帧数组
          • 2.3.1.5 esp_camera_sensor_get—— 获取摄像头传感器,一般需要对传感器做一些配置
        • 2.3.2 第二步,解读 Setup 和 loop
        • 2.3.3 第三步,解读 app_httpd(startCameraServer)
          • 2.3.3.1 index_handler —— 处理 http://{ip}:{port}
          • 2.3.3.2 status_handler —— 处理 http://{ip}:{port}/status
          • 2.3.3.3 cmd_handler —— 处理 http://{ip}:{port}/capture
          • 2.3.3.4 capture_handler —— 处理 http://{ip}:{port}/capture,拍照
          • 2.3.3.5 stream_handler —— 处理 http://{ip}:{port}/stream,图片视频流

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1.前言

在 Arduino ESP32-CAM 学习之旅① 认识ESP32-CAM,搭建环境,运行第一个程序 中,我们仅仅是运行了一个官方例程,但是对于好学的我们来说,还是想慢慢拆解整个代码模块,拆解成我们可以理解的各个部分。所以,这一篇,请跟着博主去揭开ESP32-CAM的神秘面纱。
Arduino ESP32-CAM 学习之旅③ 简单剖析官方案例源码,揭开ESP32-CAM神秘面纱_第1张图片
官方案例的操作步骤:

  • 下载案例到ESP32-CAM,主要烧写注意事项
  • 在电脑浏览器上输入串口监视器打印出来的IP地址就会出现如下页面。

Arduino ESP32-CAM 学习之旅③ 简单剖析官方案例源码,揭开ESP32-CAM神秘面纱_第2张图片
这里有一系列的选项可以选择,点击Start Stream按钮就会出现以下画面(放心,这个人不是博主):
Arduino ESP32-CAM 学习之旅③ 简单剖析官方案例源码,揭开ESP32-CAM神秘面纱_第3张图片

1.1 OpenMv

首先,在我们这里,ESP32-CAM其实就是OpenMv的应用(当然博主也是不断学习才了解到的)。
这里贴一些觉得不错的参考资料:

  • https://book.openmv.cc/
  • https://docs.singtown.com/micropython/zh/latest/openmvcam/library/omv.sensor.html

2. 源码学习

2.1 源码位置

如果你是下载了ESP32源码,可以找到这个目录。
Arduino ESP32-CAM 学习之旅③ 简单剖析官方案例源码,揭开ESP32-CAM神秘面纱_第4张图片

或者直接去到github查阅:
https://gitee.com/mirrors/arduino-esp32/tree/master/libraries/ESP32/examples/Camera/CameraWebServer

Arduino ESP32-CAM 学习之旅③ 简单剖析官方案例源码,揭开ESP32-CAM神秘面纱_第5张图片

2.2 源码结构

官方案例中,源码围绕着4个文件:

  • CameraWebServer.ino
  • app_httpd.cpp —— 整个http Server 和 Image Stream Server 处理过程
  • camera_index.h —— web页面Gzip源码
  • camera_pins.h —— 摄像头引脚映射关系

2.2.1 camera_index.h —— web页面Gzip源码


//File: index_ov2640.html.gz, Size: 4316
#define index_ov2640_html_gz_len 4316
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//File: index_ov3660.html.gz, Size: 4408
#define index_ov3660_html_gz_len 4408
const uint8_t index_ov3660_html_gz[] = {
     
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};

注意:这里就是整个Web页面的Gzip字符流,包括:

  • index_ov2640_html_gz

对应这个web页面
Arduino ESP32-CAM 学习之旅③ 简单剖析官方案例源码,揭开ESP32-CAM神秘面纱_第6张图片
对应摄像头模块 ov2640 的控制页面

这里感谢群里网友把它转成我们可以看得懂的代码(html + css + JS):

<!doctype html>
<html>
    <head>
        <meta charset="utf-8">
        <meta name="viewport" content="width=device-width,initial-scale=1">
        <title>ESP32 OV2460</title>
        <style>
            body {
     
                font-family: Arial,Helvetica,sans-serif;
                background: #181818;
                color: #EFEFEF;
                font-size: 16px
            }

            h2 {
     
                font-size: 18px
            }

            section.main {
     
                display: flex
            }

            #menu,section.main {
     
                flex-direction: column
            }

            #menu {
     
                display: none;
                flex-wrap: nowrap;
                min-width: 340px;
                background: #363636;
                padding: 8px;
                border-radius: 4px;
                margin-top: -10px;
                margin-right: 10px;
            }

            #content {
     
                display: flex;
                flex-wrap: wrap;
                align-items: stretch
            }

            figure {
     
                padding: 0px;
                margin: 0;
                -webkit-margin-before: 0;
                margin-block-start: 0;
                -webkit-margin-after: 0;
                margin-block-end: 0;
                -webkit-margin-start: 0;
                margin-inline-start: 0;
                -webkit-margin-end: 0;
                margin-inline-end: 0
            }

            figure img {
     
                display: block;
                width: 100%;
                height: auto;
                border-radius: 4px;
                margin-top: 8px;
            }

            @media (min-width: 800px) and (orientation:landscape) {
     
                #content {
     
                    display:flex;
                    flex-wrap: nowrap;
                    align-items: stretch
                }

                figure img {
     
                    display: block;
                    max-width: 100%;
                    max-height: calc(100vh - 40px);
                    width: auto;
                    height: auto
                }

                figure {
     
                    padding: 0 0 0 0px;
                    margin: 0;
                    -webkit-margin-before: 0;
                    margin-block-start: 0;
                    -webkit-margin-after: 0;
                    margin-block-end: 0;
                    -webkit-margin-start: 0;
                    margin-inline-start: 0;
                    -webkit-margin-end: 0;
                    margin-inline-end: 0
                }
            }

            section#buttons {
     
                display: flex;
                flex-wrap: nowrap;
                justify-content: space-between
            }

            #nav-toggle {
     
                cursor: pointer;
                display: block
            }

            #nav-toggle-cb {
     
                outline: 0;
                opacity: 0;
                width: 0;
                height: 0
            }

            #nav-toggle-cb:checked+#menu {
     
                display: flex
            }

            .input-group {
     
                display: flex;
                flex-wrap: nowrap;
                line-height: 22px;
                margin: 5px 0
            }

            .input-group>label {
     
                display: inline-block;
                padding-right: 10px;
                min-width: 47%
            }

            .input-group input,.input-group select {
     
                flex-grow: 1
            }

            .range-max,.range-min {
     
                display: inline-block;
                padding: 0 5px
            }

            button {
     
                display: block;
                margin: 5px;
                padding: 0 12px;
                border: 0;
                line-height: 28px;
                cursor: pointer;
                color: #fff;
                background: #ff3034;
                border-radius: 5px;
                font-size: 16px;
                outline: 0
            }

            button:hover {
     
                background: #ff494d
            }

            button:active {
     
                background: #f21c21
            }

            button.disabled {
     
                cursor: default;
                background: #a0a0a0
            }

            input[type=range] {
     
                -webkit-appearance: none;
                width: 100%;
                height: 22px;
                background: #363636;
                cursor: pointer;
                margin: 0
            }

            input[type=range]:focus {
     
                outline: 0
            }

            input[type=range]::-webkit-slider-runnable-track {
     
                width: 100%;
                height: 2px;
                cursor: pointer;
                background: #EFEFEF;
                border-radius: 0;
                border: 0 solid #EFEFEF
            }

            input[type=range]::-webkit-slider-thumb {
     
                border: 1px solid rgba(0,0,30,0);
                height: 22px;
                width: 22px;
                border-radius: 50px;
                background: #ff3034;
                cursor: pointer;
                -webkit-appearance: none;
                margin-top: -11.5px
            }

            input[type=range]:focus::-webkit-slider-runnable-track {
     
                background: #EFEFEF
            }

            input[type=range]::-moz-range-track {
     
                width: 100%;
                height: 2px;
                cursor: pointer;
                background: #EFEFEF;
                border-radius: 0;
                border: 0 solid #EFEFEF
            }

            input[type=range]::-moz-range-thumb {
     
                border: 1px solid rgba(0,0,30,0);
                height: 22px;
                width: 22px;
                border-radius: 50px;
                background: #ff3034;
                cursor: pointer
            }

            input[type=range]::-ms-track {
     
                width: 100%;
                height: 2px;
                cursor: pointer;
                background: 0 0;
                border-color: transparent;
                color: transparent
            }

            input[type=range]::-ms-fill-lower {
     
                background: #EFEFEF;
                border: 0 solid #EFEFEF;
                border-radius: 0
            }

            input[type=range]::-ms-fill-upper {
     
                background: #EFEFEF;
                border: 0 solid #EFEFEF;
                border-radius: 0
            }

            input[type=range]::-ms-thumb {
     
                border: 1px solid rgba(0,0,30,0);
                height: 22px;
                width: 22px;
                border-radius: 50px;
                background: #ff3034;
                cursor: pointer;
                height: 2px
            }

            input[type=range]:focus::-ms-fill-lower {
     
                background: #EFEFEF
            }

            input[type=range]:focus::-ms-fill-upper {
     
                background: #363636
            }

            .switch {
     
                display: block;
                position: relative;
                line-height: 22px;
                font-size: 16px;
                height: 22px
            }

            .switch input {
     
                outline: 0;
                opacity: 0;
                width: 0;
                height: 0
            }

            .slider {
     
                width: 50px;
                height: 22px;
                border-radius: 22px;
                cursor: pointer;
                background-color: grey
            }

            .slider,.slider:before {
     
                display: inline-block;
                transition: .4s
            }

            .slider:before {
     
                position: relative;
                content: "";
                border-radius: 50%;
                height: 16px;
                width: 16px;
                left: 4px;
                top: 3px;
                background-color: #fff
            }

            input:checked+.slider {
     
                background-color: #ff3034
            }

            input:checked+.slider:before {
     
                -webkit-transform: translateX(26px);
                transform: translateX(26px)
            }

            select {
     
                border: 1px solid #363636;
                font-size: 14px;
                height: 22px;
                outline: 0;
                border-radius: 5px
            }

            .image-container {
     
                position: relative;
                min-width: 160px
            }

            .close {
     
                position: absolute;
                right: 5px;
                top: 5px;
                background: #ff3034;
                width: 16px;
                height: 16px;
                border-radius: 100px;
                color: #fff;
                text-align: center;
                line-height: 18px;
                cursor: pointer
            }

            .hidden {
     
                display: none
            }
        </style>
    </head>
    <body>
        <section class="main">
            <div id="logo">
                <label for="nav-toggle-cb" id="nav-toggle">&#9776;&nbsp;&nbsp;Toggle OV2640 settings</label>
            </div>
            <div id="content">
                <div id="sidebar">
                    <input type="checkbox" id="nav-toggle-cb" checked="checked">
                    <nav id="menu">
                        <div class="input-group" id="framesize-group">
                            <label for="framesize">Resolution</label>
                            <select id="framesize" class="default-action">
                                <option value="10">UXGA(1600x1200)</option>
                                <option value="9">SXGA(1280x1024)</option>
                                <option value="8">XGA(1024x768)</option>
                                <option value="7">SVGA(800x600)</option>
                                <option value="6">VGA(640x480)</option>
                                <option value="5" selected="selected">CIF(400x296)</option>
                                <option value="4">QVGA(320x240)</option>
                                <option value="3">HQVGA(240x176)</option>
                                <option value="0">QQVGA(160x120)</option>
                            </select>
                        </div>
                        <div class="input-group" id="quality-group">
                            <label for="quality">Quality</label>
                            <div class="range-min">10</div>
                            <input type="range" id="quality" min="10" max="63" value="10" class="default-action">
                            <div class="range-max">63</div>
                        </div>
                        <div class="input-group" id="brightness-group">
                            <label for="brightness">Brightness</label>
                            <div class="range-min">-2</div>
                            <input type="range" id="brightness" min="-2" max="2" value="0" class="default-action">
                            <div class="range-max">2</div>
                        </div>
                        <div class="input-group" id="contrast-group">
                            <label for="contrast">Contrast</label>
                            <div class="range-min">-2</div>
                            <input type="range" id="contrast" min="-2" max="2" value="0" class="default-action">
                            <div class="range-max">2</div>
                        </div>
                        <div class="input-group" id="saturation-group">
                            <label for="saturation">Saturation</label>
                            <div class="range-min">-2</div>
                            <input type="range" id="saturation" min="-2" max="2" value="0" class="default-action">
                            <div class="range-max">2</div>
                        </div>
                        <div class="input-group" id="special_effect-group">
                            <label for="special_effect">Special Effect</label>
                            <select id="special_effect" class="default-action">
                                <option value="0" selected="selected">No Effect</option>
                                <option value="1">Negative</option>
                                <option value="2">Grayscale</option>
                                <option value="3">Red Tint</option>
                                <option value="4">Green Tint</option>
                                <option value="5">Blue Tint</option>
                                <option value="6">Sepia</option>
                            </select>
                        </div>
                        <div class="input-group" id="awb-group">
                            <label for="awb">AWB</label>
                            <div class="switch">
                                <input id="awb" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="awb"></label>
                            </div>
                        </div>
                        <div class="input-group" id="awb_gain-group">
                            <label for="awb_gain">AWB Gain</label>
                            <div class="switch">
                                <input id="awb_gain" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="awb_gain"></label>
                            </div>
                        </div>
                        <div class="input-group" id="wb_mode-group">
                            <label for="wb_mode">WB Mode</label>
                            <select id="wb_mode" class="default-action">
                                <option value="0" selected="selected">Auto</option>
                                <option value="1">Sunny</option>
                                <option value="2">Cloudy</option>
                                <option value="3">Office</option>
                                <option value="4">Home</option>
                            </select>
                        </div>
                        <div class="input-group" id="aec-group">
                            <label for="aec">AEC SENSOR</label>
                            <div class="switch">
                                <input id="aec" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="aec"></label>
                            </div>
                        </div>
                        <div class="input-group" id="aec2-group">
                            <label for="aec2">AEC DSP</label>
                            <div class="switch">
                                <input id="aec2" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="aec2"></label>
                            </div>
                        </div>
                        <div class="input-group" id="ae_level-group">
                            <label for="ae_level">AE Level</label>
                            <div class="range-min">-2</div>
                            <input type="range" id="ae_level" min="-2" max="2" value="0" class="default-action">
                            <div class="range-max">2</div>
                        </div>
                        <div class="input-group" id="aec_value-group">
                            <label for="aec_value">Exposure</label>
                            <div class="range-min">0</div>
                            <input type="range" id="aec_value" min="0" max="1200" value="204" class="default-action">
                            <div class="range-max">1200</div>
                        </div>
                        <div class="input-group" id="agc-group">
                            <label for="agc">AGC</label>
                            <div class="switch">
                                <input id="agc" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="agc"></label>
                            </div>
                        </div>
                        <div class="input-group hidden" id="agc_gain-group">
                            <label for="agc_gain">Gain</label>
                            <div class="range-min">1x</div>
                            <input type="range" id="agc_gain" min="0" max="30" value="5" class="default-action">
                            <div class="range-max">31x</div>
                        </div>
                        <div class="input-group" id="gainceiling-group">
                            <label for="gainceiling">Gain Ceiling</label>
                            <div class="range-min">2x</div>
                            <input type="range" id="gainceiling" min="0" max="6" value="0" class="default-action">
                            <div class="range-max">128x</div>
                        </div>
                        <div class="input-group" id="bpc-group">
                            <label for="bpc">BPC</label>
                            <div class="switch">
                                <input id="bpc" type="checkbox" class="default-action">
                                <label class="slider" for="bpc"></label>
                            </div>
                        </div>
                        <div class="input-group" id="wpc-group">
                            <label for="wpc">WPC</label>
                            <div class="switch">
                                <input id="wpc" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="wpc"></label>
                            </div>
                        </div>
                        <div class="input-group" id="raw_gma-group">
                            <label for="raw_gma">Raw GMA</label>
                            <div class="switch">
                                <input id="raw_gma" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="raw_gma"></label>
                            </div>
                        </div>
                        <div class="input-group" id="lenc-group">
                            <label for="lenc">Lens Correction</label>
                            <div class="switch">
                                <input id="lenc" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="lenc"></label>
                            </div>
                        </div>
                        <div class="input-group" id="hmirror-group">
                            <label for="hmirror">H-Mirror</label>
                            <div class="switch">
                                <input id="hmirror" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="hmirror"></label>
                            </div>
                        </div>
                        <div class="input-group" id="vflip-group">
                            <label for="vflip">V-Flip</label>
                            <div class="switch">
                                <input id="vflip" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="vflip"></label>
                            </div>
                        </div>
                        <div class="input-group" id="dcw-group">
                            <label for="dcw">DCW (Downsize EN)</label>
                            <div class="switch">
                                <input id="dcw" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="dcw"></label>
                            </div>
                        </div>
                        <div class="input-group" id="colorbar-group">
                            <label for="colorbar">Color Bar</label>
                            <div class="switch">
                                <input id="colorbar" type="checkbox" class="default-action">
                                <label class="slider" for="colorbar"></label>
                            </div>
                        </div>
                        <div class="input-group" id="face_detect-group">
                            <label for="face_detect">Face Detection</label>
                            <div class="switch">
                                <input id="face_detect" type="checkbox" class="default-action">
                                <label class="slider" for="face_detect"></label>
                            </div>
                        </div>
                        <div class="input-group" id="face_recognize-group">
                            <label for="face_recognize">Face Recognition</label>
                            <div class="switch">
                                <input id="face_recognize" type="checkbox" class="default-action">
                                <label class="slider" for="face_recognize"></label>
                            </div>
                        </div>
                        <section id="buttons">
                            <button id="get-still">Get Still</button>
                            <button id="toggle-stream">Start Stream</button>
                            <button id="face_enroll" class="disabled" disabled="disabled">Enroll Face</button>
                        </section>
                    </nav>
                </div>
                <figure>
                    <div id="stream-container" class="image-container hidden">
                        <div class="close" id="close-stream">×</div>
                        <img id="stream" src="">
                    </div>
                </figure>
            </div>
        </section>
        <script>
document.addEventListener('DOMContentLoaded', function (event) {
     
  var baseHost = document.location.origin
  var streamUrl = baseHost + ':81'

  const hide = el => {
     
    el.classList.add('hidden')
  }
  const show = el => {
     
    el.classList.remove('hidden')
  }

  const disable = el => {
     
    el.classList.add('disabled')
    el.disabled = true
  }

  const enable = el => {
     
    el.classList.remove('disabled')
    el.disabled = false
  }

  const updateValue = (el, value, updateRemote) => {
     
    updateRemote = updateRemote == null ? true : updateRemote
    let initialValue
    if (el.type === 'checkbox') {
     
      initialValue = el.checked
      value = !!value
      el.checked = value
    } else {
     
      initialValue = el.value
      el.value = value
    }

    if (updateRemote && initialValue !== value) {
     
      updateConfig(el);
    } else if(!updateRemote){
     
      if(el.id === "aec"){
     
        value ? hide(exposure) : show(exposure)
      } else if(el.id === "agc"){
     
        if (value) {
     
          show(gainCeiling)
          hide(agcGain)
        } else {
     
          hide(gainCeiling)
          show(agcGain)
        }
      } else if(el.id === "awb_gain"){
     
        value ? show(wb) : hide(wb)
      } else if(el.id === "face_recognize"){
     
        value ? enable(enrollButton) : disable(enrollButton)
      }
    }
  }

  function updateConfig (el) {
     
    let value
    switch (el.type) {
     
      case 'checkbox':
        value = el.checked ? 1 : 0
        break
      case 'range':
      case 'select-one':
        value = el.value
        break
      case 'button':
      case 'submit':
        value = '1'
        break
      default:
        return
    }

    const query = `${
     baseHost}/control?var=${
     el.id}&val=${
     value}`

    fetch(query)
      .then(response => {
     
        console.log(`request to ${
     query} finished, status: ${
     response.status}`)
      })
  }

  document
    .querySelectorAll('.close')
    .forEach(el => {
     
      el.onclick = () => {
     
        hide(el.parentNode)
      }
    })

  // read initial values
  fetch(`${
     baseHost}/status`)
    .then(function (response) {
     
      return response.json()
    })
    .then(function (state) {
     
      document
        .querySelectorAll('.default-action')
        .forEach(el => {
     
          updateValue(el, state[el.id], false)
        })
    })

  const view = document.getElementById('stream')
  const viewContainer = document.getElementById('stream-container')
  const stillButton = document.getElementById('get-still')
  const streamButton = document.getElementById('toggle-stream')
  const enrollButton = document.getElementById('face_enroll')
  const closeButton = document.getElementById('close-stream')

  const stopStream = () => {
     
    window.stop();
    streamButton.innerHTML = 'Start Stream'
  }

  const startStream = () => {
     
    view.src = `${
     streamUrl}/stream`
    show(viewContainer)
    streamButton.innerHTML = 'Stop Stream'
  }

  // Attach actions to buttons
  stillButton.onclick = () => {
     
    stopStream()
    view.src = `${
     baseHost}/capture?_cb=${
     Date.now()}`
    show(viewContainer)
  }

  closeButton.onclick = () => {
     
    stopStream()
    hide(viewContainer)
  }

  streamButton.onclick = () => {
     
    const streamEnabled = streamButton.innerHTML === 'Stop Stream'
    if (streamEnabled) {
     
      stopStream()
    } else {
     
      startStream()
    }
  }

  enrollButton.onclick = () => {
     
    updateConfig(enrollButton)
  }

  // Attach default on change action
  document
    .querySelectorAll('.default-action')
    .forEach(el => {
     
      el.onchange = () => updateConfig(el)
    })

  // Custom actions
  // Gain
  const agc = document.getElementById('agc')
  const agcGain = document.getElementById('agc_gain-group')
  const gainCeiling = document.getElementById('gainceiling-group')
  agc.onchange = () => {
     
    updateConfig(agc)
    if (agc.checked) {
     
      show(gainCeiling)
      hide(agcGain)
    } else {
     
      hide(gainCeiling)
      show(agcGain)
    }
  }

  // Exposure
  const aec = document.getElementById('aec')
  const exposure = document.getElementById('aec_value-group')
  aec.onchange = () => {
     
    updateConfig(aec)
    aec.checked ? hide(exposure) : show(exposure)
  }

  // AWB
  const awb = document.getElementById('awb_gain')
  const wb = document.getElementById('wb_mode-group')
  awb.onchange = () => {
     
    updateConfig(awb)
    awb.checked ? show(wb) : hide(wb)
  }

  // Detection and framesize
  const detect = document.getElementById('face_detect')
  const recognize = document.getElementById('face_recognize')
  const framesize = document.getElementById('framesize')

  framesize.onchange = () => {
     
    updateConfig(framesize)
    if (framesize.value > 5) {
     
      updateValue(detect, false)
      updateValue(recognize, false)
    }
  }

  detect.onchange = () => {
     
    if (framesize.value > 5) {
     
      alert("Please select CIF or lower resolution before enabling this feature!");
      updateValue(detect, false)
      return;
    }
    updateConfig(detect)
    if (!detect.checked) {
     
      disable(enrollButton)
      updateValue(recognize, false)
    }
  }

  recognize.onchange = () => {
     
    if (framesize.value > 5) {
     
      alert("Please select CIF or lower resolution before enabling this feature!");
      updateValue(recognize, false)
      return;
    }
    updateConfig(recognize)
    if (recognize.checked) {
     
      enable(enrollButton)
      updateValue(detect, true)
    } else {
     
      disable(enrollButton)
    }
  }
})

        </script>
    </body>
</html>

  • index_ov3660_html_gz

对应摄像头模块 ov3660 的控制页面,不过博主这里没有该模块,所以暂且忽略吧,理论上原理和 ov2640共同。

2.2.2 camera_pins.h —— 摄像头引脚映射关系

源码细节:


#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

#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

#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_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

#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

#else
#error "Camera model not selected"
#endif

关于这一块的讲解,请参考 Arduino ESP32-CAM 学习之旅② ESP32-CAM开发板 该篇已经详细说明如何区分开发板。

2.2.3 CameraWebServer.ino —— Arduino代码

源码细节:

//Disable Example for now
#if 0
#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
//

// Select camera model
#define CAMERA_MODEL_WROVER_KIT // Has PSRAM
//#define CAMERA_MODEL_ESP_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_AI_THINKER // Has PSRAM
//#define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM

#include "camera_pins.h"

const char* ssid = "*********";
const char* password = "*********";

void startCameraServer();

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;
  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_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.pixel_format = PIXFORMAT_JPEG;
  
  // if PSRAM IC present, init with UXGA resolution and higher JPEG quality
  //                      for larger pre-allocated frame buffer.
  if(psramFound()){
     
    config.frame_size = FRAMESIZE_UXGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
     
    config.frame_size = FRAMESIZE_SVGA;
    config.jpeg_quality = 12;
    config.fb_count = 1;
  }

#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
  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

  WiFi.begin(ssid, password);

  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() {
     
  // put your main code here, to run repeatedly:
  delay(10000);
}
#else
void setup(){
     }
void loop(){
     }
#endif

代码不多,稍后讲解。

2.2.4 app_httpd.cpp —— 整个http Server 和 Image Stream Server 处理过程(核心代码)

源码细节:

// 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 "camera_index.h"
#include "Arduino.h"

#include "fb_gfx.h"
#include "fd_forward.h"
#include "fr_forward.h"

#define ENROLL_CONFIRM_TIMES 5
#define FACE_ID_SAVE_NUMBER 7

#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)

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;

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\n\r\n";

static ra_filter_t ra_filter;
httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

static mtmn_config_t mtmn_config = {
     0};
static int8_t detection_enabled = 0;
static int8_t recognition_enabled = 0;
static int8_t is_enrolling = 0;
static face_id_list id_list = {
     0};

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;
}

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;
}

static void rgb_print(dl_matrix3du_t *image_matrix, uint32_t color, const char * str){
     
    fb_data_t fb;
    fb.width = image_matrix->w;
    fb.height = image_matrix->h;
    fb.data = image_matrix->item;
    fb.bytes_per_pixel = 3;
    fb.format = FB_BGR888;
    fb_gfx_print(&fb, (fb.width - (strlen(str) * 14)) / 2, 10, color, str);
}

static int rgb_printf(dl_matrix3du_t *image_matrix, 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(image_matrix, color, temp);
    if(len > 64){
     
        free(temp);
    }
    return len;
}

static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes, int face_id){
     
    int x, y, w, h, i;
    uint32_t color = FACE_COLOR_YELLOW;
    if(face_id < 0){
     
        color = FACE_COLOR_RED;
    } else if(face_id > 0){
     
        color = FACE_COLOR_GREEN;
    }
    fb_data_t fb;
    fb.width = image_matrix->w;
    fb.height = image_matrix->h;
    fb.data = image_matrix->item;
    fb.bytes_per_pixel = 3;
    fb.format = FB_BGR888;
    for (i = 0; i < boxes->len; i++){
     
        // rectangle box
        x = (int)boxes->box[i].box_p[0];
        y = (int)boxes->box[i].box_p[1];
        w = (int)boxes->box[i].box_p[2] - x + 1;
        h = (int)boxes->box[i].box_p[3] - y + 1;
        fb_gfx_drawFastHLine(&fb, x, y, w, color);
        fb_gfx_drawFastHLine(&fb, x, y+h-1, w, color);
        fb_gfx_drawFastVLine(&fb, x, y, h, color);
        fb_gfx_drawFastVLine(&fb, x+w-1, y, h, color);
#if 0
        // landmark
        int x0, y0, j;
        for (j = 0; j < 10; j+=2) {
     
            x0 = (int)boxes->landmark[i].landmark_p[j];
            y0 = (int)boxes->landmark[i].landmark_p[j+1];
            fb_gfx_fillRect(&fb, x0, y0, 3, 3, color);
        }
#endif
    }
}

static int run_face_recognition(dl_matrix3du_t *image_matrix, box_array_t *net_boxes){
     
    dl_matrix3du_t *aligned_face = NULL;
    int matched_id = 0;

    aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3);
    if(!aligned_face){
     
        Serial.println("Could not allocate face recognition buffer");
        return matched_id;
    }
    if (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK){
     
        if (is_enrolling == 1){
     
            int8_t left_sample_face = enroll_face(&id_list, aligned_face);

            if(left_sample_face == (ENROLL_CONFIRM_TIMES - 1)){
     
                Serial.printf("Enrolling Face ID: %d\n", id_list.tail);
            }
            Serial.printf("Enrolling Face ID: %d sample %d\n", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
            rgb_printf(image_matrix, FACE_COLOR_CYAN, "ID[%u] Sample[%u]", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
            if (left_sample_face == 0){
     
                is_enrolling = 0;
                Serial.printf("Enrolled Face ID: %d\n", id_list.tail);
            }
        } else {
     
            matched_id = recognize_face(&id_list, aligned_face);
            if (matched_id >= 0) {
     
                Serial.printf("Match Face ID: %u\n", matched_id);
                rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello Subject %u", matched_id);
            } else {
     
                Serial.println("No Match Found");
                rgb_print(image_matrix, FACE_COLOR_RED, "Intruder Alert!");
                matched_id = -1;
            }
        }
    } else {
     
        Serial.println("Face Not Aligned");
        //rgb_print(image_matrix, FACE_COLOR_YELLOW, "Human Detected");
    }

    dl_matrix3du_free(aligned_face);
    return matched_id;
}

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;
    int64_t fr_start = esp_timer_get_time();

    fb = esp_camera_fb_get();
    if (!fb) {
     
        Serial.println("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", "*");

    size_t out_len, out_width, out_height;
    uint8_t * out_buf;
    bool s;
    bool detected = false;
    int face_id = 0;
    if(!detection_enabled || fb->width > 400){
     
        size_t fb_len = 0;
        if(fb->format == PIXFORMAT_JPEG){
     
            fb_len = fb->len;
            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);
            fb_len = jchunk.len;
        }
        esp_camera_fb_return(fb);
        int64_t fr_end = esp_timer_get_time();
        Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
        return res;
    }

    dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
    if (!image_matrix) {
     
        esp_camera_fb_return(fb);
        Serial.println("dl_matrix3du_alloc failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    out_buf = image_matrix->item;
    out_len = fb->width * fb->height * 3;
    out_width = fb->width;
    out_height = fb->height;

    s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
    esp_camera_fb_return(fb);
    if(!s){
     
        dl_matrix3du_free(image_matrix);
        Serial.println("to rgb888 failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config);

    if (net_boxes){
     
        detected = true;
        if(recognition_enabled){
     
            face_id = run_face_recognition(image_matrix, net_boxes);
        }
        draw_face_boxes(image_matrix, net_boxes, face_id);
        free(net_boxes->score);
        free(net_boxes->box);
        free(net_boxes->landmark);
        free(net_boxes);
    }

    jpg_chunking_t jchunk = {
     req, 0};
    s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);
    dl_matrix3du_free(image_matrix);
    if(!s){
     
        Serial.println("JPEG compression failed");
        return ESP_FAIL;
    }

    int64_t fr_end = esp_timer_get_time();
    Serial.printf("FACE: %uB %ums %s%d\n", (uint32_t)(jchunk.len), (uint32_t)((fr_end - fr_start)/1000), detected?"DETECTED ":"", face_id);
    return res;
}

static esp_err_t stream_handler(httpd_req_t *req){
     
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    size_t _jpg_buf_len = 0;
    uint8_t * _jpg_buf = NULL;
    char * part_buf[64];
    dl_matrix3du_t *image_matrix = NULL;
    bool detected = false;
    int face_id = 0;
    int64_t fr_start = 0;
    int64_t fr_ready = 0;
    int64_t fr_face = 0;
    int64_t fr_recognize = 0;
    int64_t fr_encode = 0;

    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", "*");

    while(true){
     
        detected = false;
        face_id = 0;
        fb = esp_camera_fb_get();
        if (!fb) {
     
            Serial.println("Camera capture failed");
            res = ESP_FAIL;
        } else {
     
            fr_start = esp_timer_get_time();
            fr_ready = fr_start;
            fr_face = fr_start;
            fr_encode = fr_start;
            fr_recognize = fr_start;
            if(!detection_enabled || fb->width > 400){
     
                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){
     
                        Serial.println("JPEG compression failed");
                        res = ESP_FAIL;
                    }
                } else {
     
                    _jpg_buf_len = fb->len;
                    _jpg_buf = fb->buf;
                }
            } else {
     

                image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);

                if (!image_matrix) {
     
                    Serial.println("dl_matrix3du_alloc failed");
                    res = ESP_FAIL;
                } else {
     
                    if(!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item)){
     
                        Serial.println("fmt2rgb888 failed");
                        res = ESP_FAIL;
                    } else {
     
                        fr_ready = esp_timer_get_time();
                        box_array_t *net_boxes = NULL;
                        if(detection_enabled){
     
                            net_boxes = face_detect(image_matrix, &mtmn_config);
                        }
                        fr_face = esp_timer_get_time();
                        fr_recognize = fr_face;
                        if (net_boxes || fb->format != PIXFORMAT_JPEG){
     
                            if(net_boxes){
     
                                detected = true;
                                if(recognition_enabled){
     
                                    face_id = run_face_recognition(image_matrix, net_boxes);
                                }
                                fr_recognize = esp_timer_get_time();
                                draw_face_boxes(image_matrix, net_boxes, face_id);
                                free(net_boxes->score);
                                free(net_boxes->box);
                                free(net_boxes->landmark);
                                free(net_boxes);
                            }
                            if(!fmt2jpg(image_matrix->item, fb->width*fb->height*3, fb->width, fb->height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len)){
     
                                Serial.println("fmt2jpg failed");
                                res = ESP_FAIL;
                            }
                            esp_camera_fb_return(fb);
                            fb = NULL;
                        } else {
     
                            _jpg_buf = fb->buf;
                            _jpg_buf_len = fb->len;
                        }
                        fr_encode = esp_timer_get_time();
                    }
                    dl_matrix3du_free(image_matrix);
                }
            }
        }
        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, 64, _STREAM_PART, _jpg_buf_len);
            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){
     
            break;
        }
        int64_t fr_end = esp_timer_get_time();

        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;
        
        int64_t frame_time = fr_end - last_frame;
        last_frame = fr_end;
        frame_time /= 1000;
        uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
        Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps), %u+%u+%u+%u=%u %s%d\n",
            (uint32_t)(_jpg_buf_len),
            (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
            avg_frame_time, 1000.0 / avg_frame_time,
            (uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time, (uint32_t)encode_time, (uint32_t)process_time,
            (detected)?"DETECTED ":"", face_id
        );
    }

    last_frame = 0;
    return res;
}

static esp_err_t cmd_handler(httpd_req_t *req){
     
    char*  buf;
    size_t buf_len;
    char variable[32] = {
     0,};
    char value[32] = {
     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) {
     
            if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&
                httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
     
            } else {
     
                free(buf);
                httpd_resp_send_404(req);
                return ESP_FAIL;
            }
        } else {
     
            free(buf);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
        free(buf);
    } else {
     
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    int val = atoi(value);
    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

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