✨ add moving target detection
parent
cf721e3419
commit
5ffeeec59a
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@ -306,5 +306,10 @@ menu "ESP-WHO General Configuration"
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# Human Hand Series
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config DL_MOVING_TARGET_DETECTION_ENABLED
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bool "Enable Moving Target Detection"
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default y
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endmenu
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endmenu
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@ -1 +1 @@
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Subproject commit cc615c23793efffb5380b32b2c3d3eae54df7e98
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Subproject commit ec9703e70b6e5e738cdc9ac3b7aad0cd7a4f0797
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@ -10,6 +10,8 @@ Camera with LCD `[English] <./README.rst>`_
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+ `CatFaceDetectMN03 <https://github.com/espressif/esp-dl/blob/master/include/model_zoo/cat_face_detect_mn03.hpp>`_
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+ `移动侦测 <https://github.com/espressif/esp-dl/blob/master/include/image/dl_image.hpp#L322>`_
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支持的开发套件
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************************************************************************************************
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@ -34,12 +34,12 @@ static const char *TAG = "app_dl";
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void task_dl(void *arg)
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{
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camera_fb_t *fb = NULL;
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dl::tool::Latency latency_total(24);
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dl::tool::Latency latency_fetch;
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dl::tool::Latency latency_decode;
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dl::tool::Latency latency_detect;
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dl::tool::Latency latency_recognize;
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dl::tool::Latency latency_moving;
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#if CONFIG_DL_HUMAN_FACE
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#if CONFIG_DL_HUMAN_FACE_DETECTION_S1_MSR01
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@ -67,32 +67,53 @@ void task_dl(void *arg)
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latency_decode.clear_period();
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latency_detect.clear_period();
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latency_recognize.clear_period();
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latency_moving.clear_period();
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latency_total.start();
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latency_fetch.start();
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fb = esp_camera_fb_get();
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if (!fb)
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camera_fb_t *frame = esp_camera_fb_get();
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if (!frame)
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{
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ESP_LOGE(TAG, "Camera capture failed");
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continue;
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}
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latency_fetch.end();
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#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED
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camera_fb_t *frame2 = esp_camera_fb_get();
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if (!frame2)
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{
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ESP_LOGE(TAG, "Camera capture failed");
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continue;
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}
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latency_fetch.end();
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latency_moving.start();
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uint32_t moving_point_number = dl::image::get_moving_point_number((uint16_t *)frame->buf, (uint16_t *)frame2->buf, frame->height, frame->width, 8, 15);
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latency_moving.end();
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if (moving_point_number > 50)
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{
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ESP_LOGI("Moving Target", "Detected.");
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dl::image::draw_filled_rectangle((uint16_t *)frame->buf, frame->height, frame->width, 0, 0, 10, 10);
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}
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esp_camera_fb_return(frame2);
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#endif
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#if CONFIG_DL_ENABLED
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#if CONFIG_DL_HUMAN_FACE
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latency_detect.start();
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#if CONFIG_DL_HUMAN_FACE_DETECTION_S2_ENABLED
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std::list<dl::detect::result_t> &detect_candidates = detector.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
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std::list<dl::detect::result_t> &detect_results = detector2.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3}, detect_candidates);
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std::list<dl::detect::result_t> &detect_candidates = detector.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3});
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std::list<dl::detect::result_t> &detect_results = detector2.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3}, detect_candidates);
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#else
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std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
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std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3});
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#endif
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latency_detect.end();
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if (detect_results.size() > 0)
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{
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draw_detection_result((uint16_t *)fb->buf, fb->height, fb->width, detect_results);
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draw_detection_result((uint16_t *)frame->buf, frame->height, frame->width, detect_results);
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#if CONFIG_DL_HUMAN_FACE_RECOGNITION_ENABLED
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latency_recognize.start();
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@ -104,11 +125,11 @@ void task_dl(void *arg)
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#if CONFIG_DL_CAT_FACE
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latency_detect.start();
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std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
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std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3});
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latency_detect.end();
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if (detect_results.size() > 0)
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{
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draw_detection_result((uint16_t *)fb->buf, fb->height, fb->width, detect_results);
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draw_detection_result((uint16_t *)frame->buf, frame->height, frame->width, detect_results);
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}
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#endif // CONFIG_DL_CAT_FACE
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@ -119,16 +140,23 @@ void task_dl(void *arg)
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#endif // CONFIG_DL_HUMAN_HAND
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#endif // CONFIG_DL_ENABLED
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app_lcd_draw_bitmap((uint16_t *)fb->buf, fb->height, fb->width);
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app_lcd_draw_bitmap((uint16_t *)frame->buf, frame->height, frame->width);
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esp_camera_fb_return(fb);
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esp_camera_fb_return(frame);
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latency_total.end();
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uint32_t frame_latency = latency_total.get_period() / 1000;
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uint32_t average_frame_latency = latency_total.get_average_period() / 1000;
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ESP_LOGI("Frame Latency", "%4ums (%2.1ffps), Average: %4ums (%2.1ffps) | fetch: %4ums, decode: %4ums, detect: %4ums, recognize: %5ums",
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ESP_LOGI("Frame Latency", "%4ums (%2.1ffps), Average: %4ums (%2.1ffps) | fetch: %4ums, "
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#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED
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"moving: %4uus, "
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#endif
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"decode: %4ums, detect: %4ums, recognize: %5ums",
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frame_latency, 1000.0 / frame_latency, average_frame_latency, 1000.0 / average_frame_latency,
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latency_fetch.get_period() / 1000,
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#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED
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latency_moving.get_period(),
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#endif
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latency_decode.get_period() / 1000,
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latency_detect.get_period() / 1000,
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latency_recognize.get_period() / 1000);
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@ -10,6 +10,7 @@ Camera with Terminal `[English] <./README.rst>`_
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+ `CatFaceDetectMN03 <https://github.com/espressif/esp-dl/blob/master/include/model_zoo/cat_face_detect_mn03.hpp>`_
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+ `移动侦测 <https://github.com/espressif/esp-dl/blob/master/include/image/dl_image.hpp#L322>`_
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运行示例
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@ -38,6 +38,7 @@ void task_dl(void *arg)
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dl::tool::Latency latency_decode;
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dl::tool::Latency latency_detect;
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dl::tool::Latency latency_recognize;
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dl::tool::Latency latency_moving;
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/* 1. Load configuration for detection */
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#if CONFIG_DL_HUMAN_FACE
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@ -66,32 +67,53 @@ void task_dl(void *arg)
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latency_decode.clear_period();
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latency_detect.clear_period();
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latency_recognize.clear_period();
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latency_moving.clear_period();
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latency_total.start();
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latency_fetch.start();
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camera_fb_t *fb = esp_camera_fb_get();
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if (!fb)
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camera_fb_t *frame = esp_camera_fb_get();
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if (!frame)
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{
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ESP_LOGE(TAG, "Camera capture failed");
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continue;
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}
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latency_fetch.end();
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#if CONFIG_DL_ENABLED
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latency_decode.start();
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IMAGE_T *image_ptr = (IMAGE_T *)app_camera_decode(fb);
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if (!image_ptr)
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#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
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camera_fb_t *frame2 = esp_camera_fb_get();
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if (!frame2)
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{
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esp_camera_fb_return(fb);
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ESP_LOGE(TAG, "Camera capture failed");
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continue;
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}
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int image_height = fb->height;
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int image_width = fb->width;
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pixformat_t image_format = fb->format;
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latency_fetch.end();
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latency_moving.start();
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uint32_t moving_point_number = dl::image::get_moving_point_number((uint16_t *)frame->buf, (uint16_t *)frame2->buf, frame->height, frame->width, 8, 15);
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latency_moving.end();
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if (moving_point_number > 50)
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{
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ESP_LOGI("Moving Target", "Detected.");
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dl::image::draw_filled_rectangle((uint16_t *)frame->buf, frame->height, frame->width, 0, 0, 10, 10);
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}
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esp_camera_fb_return(frame2);
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#endif
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#if CONFIG_DL_ENABLED
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latency_decode.start();
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IMAGE_T *image_ptr = (IMAGE_T *)app_camera_decode(frame);
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if (!image_ptr)
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{
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esp_camera_fb_return(frame);
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continue;
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}
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int image_height = frame->height;
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int image_width = frame->width;
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pixformat_t image_format = frame->format;
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if (image_format != PIXFORMAT_RGB565)
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esp_camera_fb_return(fb);
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esp_camera_fb_return(frame);
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latency_decode.end();
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#if CONFIG_DL_HUMAN_FACE
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@ -133,20 +155,27 @@ void task_dl(void *arg)
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#endif // CONFIG_DL_HUMAN_HAND
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if (image_format == PIXFORMAT_RGB565)
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esp_camera_fb_return(fb);
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esp_camera_fb_return(frame);
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else
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free(image_ptr);
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#else
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esp_camera_fb_return(fb);
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esp_camera_fb_return(frame);
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#endif // CONFIG_DL_ENABLED
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latency_total.end();
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uint32_t frame_latency = latency_total.get_period() / 1000;
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uint32_t average_frame_latency = latency_total.get_average_period() / 1000;
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ESP_LOGI("Frame Latency", "%4ums (%2.1ffps), Average: %4ums (%2.1ffps) | fetch: %4ums, decode: %4ums, detect: %4ums, recognize: %5ums",
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ESP_LOGI("Frame Latency", "%4ums (%2.1ffps), Average: %4ums (%2.1ffps) | fetch: %4ums, "
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#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
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"moving: %4uus, "
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#endif
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"decode: %4ums, detect: %4ums, recognize: %5ums",
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frame_latency, 1000.0 / frame_latency, average_frame_latency, 1000.0 / average_frame_latency,
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latency_fetch.get_period() / 1000,
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#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
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latency_moving.get_period(),
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#endif
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latency_decode.get_period() / 1000,
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latency_detect.get_period() / 1000,
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latency_recognize.get_period() / 1000);
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@ -10,6 +10,7 @@ Camera with Web Server `[English] <./README.rst>`_
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+ `CatFaceDetectMN03 <https://github.com/espressif/esp-dl/blob/master/include/model_zoo/cat_face_detect_mn03.hpp>`_
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+ `移动侦测 <https://github.com/espressif/esp-dl/blob/master/include/image/dl_image.hpp#L322>`_
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运行示例
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@ -24,6 +24,7 @@
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#include "app_common.hpp"
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#include "sdkconfig.h"
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#include "dl_tool.hpp"
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#include "dl_image.hpp"
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#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
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#include "esp32-hal-log.h"
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@ -92,19 +93,19 @@ static esp_err_t capture_handler(httpd_req_t *req)
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dl::tool::Latency latency_total;
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latency_total.start();
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camera_fb_t *fb = NULL;
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camera_fb_t *frame = NULL;
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esp_err_t res = ESP_OK;
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#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
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app_led_duty(led_duty);
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vTaskDelay(150 / portTICK_PERIOD_MS); // The LED needs to be turned on ~150ms before the call to esp_camera_fb_get()
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fb = esp_camera_fb_get(); // or it won't be visible in the frame. A better way to do this is needed.
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frame = esp_camera_fb_get(); // or it won't be visible in the frame. A better way to do this is needed.
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app_led_duty(0);
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#else
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fb = esp_camera_fb_get();
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frame = esp_camera_fb_get();
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#endif
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if (!fb)
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if (!frame)
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{
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ESP_LOGE(TAG, "Camera capture failed");
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httpd_resp_send_500(req);
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@ -116,23 +117,23 @@ static esp_err_t capture_handler(httpd_req_t *req)
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httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
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char ts[32];
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snprintf(ts, 32, "%ld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec);
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snprintf(ts, 32, "%ld.%06ld", frame->timestamp.tv_sec, frame->timestamp.tv_usec);
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httpd_resp_set_hdr(req, "X-Timestamp", (const char *)ts);
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size_t fb_len = 0;
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if (fb->format == PIXFORMAT_JPEG)
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if (frame->format == PIXFORMAT_JPEG)
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{
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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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fb_len = frame->len;
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res = httpd_resp_send(req, (const char *)frame->buf, frame->len);
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}
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else
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{
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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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res = frame2jpg_cb(frame, 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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esp_camera_fb_return(frame);
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latency_total.end();
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ESP_LOGI(TAG, "JPG: %uB %ums", (uint32_t)(fb_len), latency_total.get_period() / 1000);
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static esp_err_t stream_handler(httpd_req_t *req)
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{
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camera_fb_t *fb = NULL;
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camera_fb_t *frame = NULL;
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struct timeval _timestamp;
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esp_err_t res = ESP_OK;
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size_t _jpg_buf_len = 0;
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dl::tool::Latency latency_encode;
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dl::tool::Latency latency_detect;
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dl::tool::Latency latency_recognize;
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dl::tool::Latency latency_moving;
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#if CONFIG_DL_HUMAN_FACE
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#if CONFIG_DL_HUMAN_FACE_DETECTION_S1_MSR01
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@ -198,6 +200,7 @@ static esp_err_t stream_handler(httpd_req_t *req)
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latency_detect.clear_period();
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latency_recognize.clear_period();
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latency_moving.clear_period();
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image_ptr = NULL;
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is_detected = false;
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@ -207,22 +210,42 @@ static esp_err_t stream_handler(httpd_req_t *req)
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latency_total.start();
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latency_fetch.start();
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fb = esp_camera_fb_get();
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if (!fb)
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frame = esp_camera_fb_get();
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if (!frame)
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{
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ESP_LOGE(TAG, "Camera capture failed");
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res = ESP_FAIL;
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break;
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}
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_timestamp.tv_sec = fb->timestamp.tv_sec;
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_timestamp.tv_usec = fb->timestamp.tv_usec;
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_timestamp.tv_sec = frame->timestamp.tv_sec;
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_timestamp.tv_usec = frame->timestamp.tv_usec;
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latency_fetch.end();
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#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
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camera_fb_t *frame2 = esp_camera_fb_get();
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if (!frame2)
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{
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ESP_LOGE(TAG, "Camera capture failed");
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continue;
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}
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latency_fetch.end();
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latency_moving.start();
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uint32_t moving_point_number = dl::image::get_moving_point_number((uint16_t *)frame->buf, (uint16_t *)frame2->buf, frame->height, frame->width, 8, 15);
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latency_moving.end();
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if (moving_point_number > 50)
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{
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ESP_LOGI("Moving Target", "Detected.");
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dl::image::draw_filled_rectangle((uint16_t *)frame->buf, frame->height, frame->width, 0, 0, 10, 10);
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}
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esp_camera_fb_return(frame2);
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#endif
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#if CONFIG_DL_ENABLED
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if (detection_enabled && fb->width < 400)
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if (detection_enabled && frame->width < 400)
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{
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latency_decode.start();
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image_ptr = (IMAGE_T *)app_camera_decode(fb);
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image_ptr = (IMAGE_T *)app_camera_decode(frame);
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if (!image_ptr)
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{
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ESP_LOGE(TAG, "Frame decode failed");
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@ -234,17 +257,17 @@ static esp_err_t stream_handler(httpd_req_t *req)
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#if CONFIG_DL_HUMAN_FACE
|
||||
latency_detect.start();
|
||||
#if CONFIG_DL_HUMAN_FACE_DETECTION_S2_ENABLED
|
||||
std::list<dl::detect::result_t> &detect_candidates = detector.infer(image_ptr, {(int)fb->height, (int)fb->width, 3});
|
||||
std::list<dl::detect::result_t> &detect_results = detector2.infer(image_ptr, {(int)fb->height, (int)fb->width, 3}, detect_candidates);
|
||||
std::list<dl::detect::result_t> &detect_candidates = detector.infer(image_ptr, {(int)frame->height, (int)frame->width, 3});
|
||||
std::list<dl::detect::result_t> &detect_results = detector2.infer(image_ptr, {(int)frame->height, (int)frame->width, 3}, detect_candidates);
|
||||
#else
|
||||
std::list<dl::detect::result_t> &detect_results = detector.infer(image_ptr, {(int)fb->height, (int)fb->width, 3});
|
||||
std::list<dl::detect::result_t> &detect_results = detector.infer(image_ptr, {(int)frame->height, (int)frame->width, 3});
|
||||
#endif
|
||||
latency_detect.end();
|
||||
|
||||
if (detect_results.size() > 0)
|
||||
{
|
||||
is_detected = true;
|
||||
draw_detection_result(image_ptr, fb->height, fb->width, detect_results);
|
||||
draw_detection_result(image_ptr, frame->height, frame->width, detect_results);
|
||||
|
||||
latency_recognize.start();
|
||||
if (recognition_enabled)
|
||||
|
@ -259,12 +282,12 @@ static esp_err_t stream_handler(httpd_req_t *req)
|
|||
|
||||
#if CONFIG_DL_CAT_FACE
|
||||
latency_detect.start();
|
||||
std::list<dl::detect::result_t> &detect_results = detector.infer(image_ptr, {(int)fb->height, (int)fb->width, 3});
|
||||
std::list<dl::detect::result_t> &detect_results = detector.infer(image_ptr, {(int)frame->height, (int)frame->width, 3});
|
||||
latency_detect.end();
|
||||
if (detect_results.size() > 0)
|
||||
{
|
||||
is_detected = true;
|
||||
draw_detection_result(image_ptr, fb->height, fb->width, detect_results);
|
||||
draw_detection_result(image_ptr, frame->height, frame->width, detect_results);
|
||||
}
|
||||
#endif // CONFIG_DL_CAT_FACE
|
||||
|
||||
|
@ -279,38 +302,38 @@ static esp_err_t stream_handler(httpd_req_t *req)
|
|||
latency_encode.start();
|
||||
if (is_detected)
|
||||
{
|
||||
if (!fmt2jpg((uint8_t *)image_ptr, fb->width * fb->height * 3, fb->width, fb->height, CAMERA_PIXEL_FORMAT, 90, &_jpg_buf, &_jpg_buf_len))
|
||||
if (!fmt2jpg((uint8_t *)image_ptr, frame->width * frame->height * 3, frame->width, frame->height, CAMERA_PIXEL_FORMAT, 90, &_jpg_buf, &_jpg_buf_len))
|
||||
{
|
||||
ESP_LOGE(TAG, "fmt2jpg failed");
|
||||
res = ESP_FAIL;
|
||||
break;
|
||||
}
|
||||
|
||||
if (fb->format == PIXFORMAT_RGB565)
|
||||
if (frame->format == PIXFORMAT_RGB565)
|
||||
image_ptr = NULL;
|
||||
|
||||
esp_camera_fb_return(fb);
|
||||
fb = NULL;
|
||||
esp_camera_fb_return(frame);
|
||||
frame = NULL;
|
||||
}
|
||||
else if (fb->format == PIXFORMAT_JPEG)
|
||||
else if (frame->format == PIXFORMAT_JPEG)
|
||||
{
|
||||
_jpg_buf = fb->buf;
|
||||
_jpg_buf_len = fb->len;
|
||||
_jpg_buf = frame->buf;
|
||||
_jpg_buf_len = frame->len;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len))
|
||||
if (!frame2jpg(frame, 80, &_jpg_buf, &_jpg_buf_len))
|
||||
{
|
||||
ESP_LOGE(TAG, "JPEG compression failed");
|
||||
res = ESP_FAIL;
|
||||
break;
|
||||
}
|
||||
|
||||
if (fb->format == PIXFORMAT_RGB565)
|
||||
if (frame->format == PIXFORMAT_RGB565)
|
||||
image_ptr = NULL;
|
||||
|
||||
esp_camera_fb_return(fb);
|
||||
fb = NULL;
|
||||
esp_camera_fb_return(frame);
|
||||
frame = NULL;
|
||||
}
|
||||
if (image_ptr)
|
||||
free(image_ptr);
|
||||
|
@ -334,10 +357,10 @@ static esp_err_t stream_handler(httpd_req_t *req)
|
|||
res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
|
||||
}
|
||||
|
||||
if (fb)
|
||||
if (frame)
|
||||
{
|
||||
esp_camera_fb_return(fb);
|
||||
fb = NULL;
|
||||
esp_camera_fb_return(frame);
|
||||
frame = NULL;
|
||||
_jpg_buf = NULL;
|
||||
}
|
||||
else if (_jpg_buf)
|
||||
|
@ -355,9 +378,16 @@ static esp_err_t stream_handler(httpd_req_t *req)
|
|||
uint32_t frame_latency = latency_total.get_period() / 1000;
|
||||
uint32_t average_frame_latency = latency_total.get_average_period() / 1000;
|
||||
|
||||
ESP_LOGI("Frame Latency", "%4ums (%2.1ffps), Average: %4ums (%2.1ffps) | fetch %4ums, decode: %4ums, detect: %4ums, recognize: %5ums, encode: %4ums",
|
||||
ESP_LOGI("Frame Latency", "%4ums (%2.1ffps), Average: %4ums (%2.1ffps) | fetch %4ums, "
|
||||
#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
|
||||
"moving: %4uus, "
|
||||
#endif
|
||||
"decode: %4ums, detect: %4ums, recognize: %5ums, encode: %4ums",
|
||||
frame_latency, 1000.0 / frame_latency, average_frame_latency, 1000.0 / average_frame_latency,
|
||||
latency_fetch.get_period() / 1000,
|
||||
#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
|
||||
latency_moving.get_period(),
|
||||
#endif
|
||||
latency_decode.get_period() / 1000,
|
||||
latency_detect.get_period() / 1000,
|
||||
latency_recognize.get_period() / 1000,
|
||||
|
|
Loading…
Reference in New Issue