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esp-who
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✨ add moving target detection

pull/190/head
Ye Hang Yang 2021-08-03 16:11:34 +08:00
parent cf721e3419
commit 5ffeeec59a
8 changed files with 161 additions and 65 deletions
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5
components/common/Kconfig
View File

@ -306,5 +306,10 @@ menu "ESP-WHO General Configuration"
# Human Hand Series
config DL_MOVING_TARGET_DETECTION_ENABLED
bool "Enable Moving Target Detection"
default y
endmenu
endmenu

2
components/esp-dl

@ -1 +1 @@
Subproject commit cc615c23793efffb5380b32b2c3d3eae54df7e98
Subproject commit ec9703e70b6e5e738cdc9ac3b7aad0cd7a4f0797

2
examples/camera_lcd/README_cn.rst
View File

@ -10,6 +10,8 @@ Camera with LCD `[English] <./README.rst>`_
+ `CatFaceDetectMN03 <https://github.com/espressif/esp-dl/blob/master/include/model_zoo/cat_face_detect_mn03.hpp>`_
+ `移动侦测 <https://github.com/espressif/esp-dl/blob/master/include/image/dl_image.hpp#L322>`_
支持的开发套件
************************************************************************************************

52
examples/camera_lcd/main/app_dl.cpp
View File

@ -34,12 +34,12 @@ static const char *TAG = "app_dl";
void task_dl(void *arg)
{
camera_fb_t *fb = NULL;
dl::tool::Latency latency_total(24);
dl::tool::Latency latency_fetch;
dl::tool::Latency latency_decode;
dl::tool::Latency latency_detect;
dl::tool::Latency latency_recognize;
dl::tool::Latency latency_moving;
#if CONFIG_DL_HUMAN_FACE
#if CONFIG_DL_HUMAN_FACE_DETECTION_S1_MSR01
@ -67,32 +67,53 @@ void task_dl(void *arg)
latency_decode.clear_period();
latency_detect.clear_period();
latency_recognize.clear_period();
latency_moving.clear_period();
latency_total.start();
latency_fetch.start();
fb = esp_camera_fb_get();
if (!fb)
camera_fb_t *frame = esp_camera_fb_get();
if (!frame)
{
ESP_LOGE(TAG, "Camera capture failed");
continue;
}
latency_fetch.end();
#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED
camera_fb_t *frame2 = esp_camera_fb_get();
if (!frame2)
{
ESP_LOGE(TAG, "Camera capture failed");
continue;
}
latency_fetch.end();
latency_moving.start();
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);
latency_moving.end();
if (moving_point_number > 50)
{
ESP_LOGI("Moving Target", "Detected.");
dl::image::draw_filled_rectangle((uint16_t *)frame->buf, frame->height, frame->width, 0, 0, 10, 10);
}
esp_camera_fb_return(frame2);
#endif
#if CONFIG_DL_ENABLED
#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((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
std::list<dl::detect::result_t> &detect_results = detector2.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3}, detect_candidates);
std::list<dl::detect::result_t> &detect_candidates = detector.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3});
std::list<dl::detect::result_t> &detect_results = detector2.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3}, detect_candidates);
#else
std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3});
#endif
latency_detect.end();
if (detect_results.size() > 0)
{
draw_detection_result((uint16_t *)fb->buf, fb->height, fb->width, detect_results);
draw_detection_result((uint16_t *)frame->buf, frame->height, frame->width, detect_results);
#if CONFIG_DL_HUMAN_FACE_RECOGNITION_ENABLED
latency_recognize.start();
@ -104,11 +125,11 @@ void task_dl(void *arg)
#if CONFIG_DL_CAT_FACE
latency_detect.start();
std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)fb->buf, {(int)fb->height, (int)fb->width, 3});
std::list<dl::detect::result_t> &detect_results = detector.infer((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3});
latency_detect.end();
if (detect_results.size() > 0)
{
draw_detection_result((uint16_t *)fb->buf, fb->height, fb->width, detect_results);
draw_detection_result((uint16_t *)frame->buf, frame->height, frame->width, detect_results);
}
#endif // CONFIG_DL_CAT_FACE
@ -119,16 +140,23 @@ void task_dl(void *arg)
#endif // CONFIG_DL_HUMAN_HAND
#endif // CONFIG_DL_ENABLED
app_lcd_draw_bitmap((uint16_t *)fb->buf, fb->height, fb->width);
app_lcd_draw_bitmap((uint16_t *)frame->buf, frame->height, frame->width);
esp_camera_fb_return(fb);
esp_camera_fb_return(frame);
latency_total.end();
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",
ESP_LOGI("Frame Latency", "%4ums (%2.1ffps), Average: %4ums (%2.1ffps) | fetch: %4ums, "
#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED
"moving: %4uus, "
#endif
"decode: %4ums, detect: %4ums, recognize: %5ums",
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
latency_moving.get_period(),
#endif
latency_decode.get_period() / 1000,
latency_detect.get_period() / 1000,
latency_recognize.get_period() / 1000);

1
examples/camera_terminal/README_cn.rst
View File

@ -10,6 +10,7 @@ Camera with Terminal `[English] <./README.rst>`_
+ `CatFaceDetectMN03 <https://github.com/espressif/esp-dl/blob/master/include/model_zoo/cat_face_detect_mn03.hpp>`_
+ `移动侦测 <https://github.com/espressif/esp-dl/blob/master/include/image/dl_image.hpp#L322>`_
运行示例

57
examples/camera_terminal/main/app_dl.cpp
View File

@ -38,6 +38,7 @@ void task_dl(void *arg)
dl::tool::Latency latency_decode;
dl::tool::Latency latency_detect;
dl::tool::Latency latency_recognize;
dl::tool::Latency latency_moving;
/* 1. Load configuration for detection */
#if CONFIG_DL_HUMAN_FACE
@ -66,32 +67,53 @@ void task_dl(void *arg)
latency_decode.clear_period();
latency_detect.clear_period();
latency_recognize.clear_period();
latency_moving.clear_period();
latency_total.start();
latency_fetch.start();
camera_fb_t *fb = esp_camera_fb_get();
if (!fb)
camera_fb_t *frame = esp_camera_fb_get();
if (!frame)
{
ESP_LOGE(TAG, "Camera capture failed");
continue;
}
latency_fetch.end();
#if CONFIG_DL_ENABLED
latency_decode.start();
IMAGE_T *image_ptr = (IMAGE_T *)app_camera_decode(fb);
if (!image_ptr)
#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
camera_fb_t *frame2 = esp_camera_fb_get();
if (!frame2)
{
esp_camera_fb_return(fb);
ESP_LOGE(TAG, "Camera capture failed");
continue;
}
int image_height = fb->height;
int image_width = fb->width;
pixformat_t image_format = fb->format;
latency_fetch.end();
latency_moving.start();
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);
latency_moving.end();
if (moving_point_number > 50)
{
ESP_LOGI("Moving Target", "Detected.");
dl::image::draw_filled_rectangle((uint16_t *)frame->buf, frame->height, frame->width, 0, 0, 10, 10);
}
esp_camera_fb_return(frame2);
#endif
#if CONFIG_DL_ENABLED
latency_decode.start();
IMAGE_T *image_ptr = (IMAGE_T *)app_camera_decode(frame);
if (!image_ptr)
{
esp_camera_fb_return(frame);
continue;
}
int image_height = frame->height;
int image_width = frame->width;
pixformat_t image_format = frame->format;
if (image_format != PIXFORMAT_RGB565)
esp_camera_fb_return(fb);
esp_camera_fb_return(frame);
latency_decode.end();
#if CONFIG_DL_HUMAN_FACE
@ -133,20 +155,27 @@ void task_dl(void *arg)
#endif // CONFIG_DL_HUMAN_HAND
if (image_format == PIXFORMAT_RGB565)
esp_camera_fb_return(fb);
esp_camera_fb_return(frame);
else
free(image_ptr);
#else
esp_camera_fb_return(fb);
esp_camera_fb_return(frame);
#endif // CONFIG_DL_ENABLED
latency_total.end();
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",
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",
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);

1
examples/camera_web_server/README_cn.rst
View File

@ -10,6 +10,7 @@ Camera with Web Server `[English] <./README.rst>`_
+ `CatFaceDetectMN03 <https://github.com/espressif/esp-dl/blob/master/include/model_zoo/cat_face_detect_mn03.hpp>`_
+ `移动侦测 <https://github.com/espressif/esp-dl/blob/master/include/image/dl_image.hpp#L322>`_
运行示例

106
examples/camera_web_server/main/app_httpd.cpp
View File

@ -24,6 +24,7 @@
#include "app_common.hpp"
#include "sdkconfig.h"
#include "dl_tool.hpp"
#include "dl_image.hpp"
#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
#include "esp32-hal-log.h"
@ -92,19 +93,19 @@ static esp_err_t capture_handler(httpd_req_t *req)
dl::tool::Latency latency_total;
latency_total.start();
camera_fb_t *fb = NULL;
camera_fb_t *frame = NULL;
esp_err_t res = ESP_OK;
#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
app_led_duty(led_duty);
vTaskDelay(150 / portTICK_PERIOD_MS); // The LED needs to be turned on ~150ms before the call to esp_camera_fb_get()
fb = esp_camera_fb_get(); // or it won't be visible in the frame. A better way to do this is needed.
frame = esp_camera_fb_get(); // or it won't be visible in the frame. A better way to do this is needed.
app_led_duty(0);
#else
fb = esp_camera_fb_get();
frame = esp_camera_fb_get();
#endif
if (!fb)
if (!frame)
{
ESP_LOGE(TAG, "Camera capture failed");
httpd_resp_send_500(req);
@ -116,23 +117,23 @@ static esp_err_t capture_handler(httpd_req_t *req)
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
char ts[32];
snprintf(ts, 32, "%ld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec);
snprintf(ts, 32, "%ld.%06ld", frame->timestamp.tv_sec, frame->timestamp.tv_usec);
httpd_resp_set_hdr(req, "X-Timestamp", (const char *)ts);
size_t fb_len = 0;
if (fb->format == PIXFORMAT_JPEG)
if (frame->format == PIXFORMAT_JPEG)
{
fb_len = fb->len;
res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
fb_len = frame->len;
res = httpd_resp_send(req, (const char *)frame->buf, frame->len);
}
else
{
jpg_chunking_t jchunk = {req, 0};
res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk) ? ESP_OK : ESP_FAIL;
res = frame2jpg_cb(frame, 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);
esp_camera_fb_return(frame);
latency_total.end();
ESP_LOGI(TAG, "JPG: %uB %ums", (uint32_t)(fb_len), latency_total.get_period() / 1000);
@ -141,7 +142,7 @@ static esp_err_t capture_handler(httpd_req_t *req)
static esp_err_t stream_handler(httpd_req_t *req)
{
camera_fb_t *fb = NULL;
camera_fb_t *frame = NULL;
struct timeval _timestamp;
esp_err_t res = ESP_OK;
size_t _jpg_buf_len = 0;
@ -157,6 +158,7 @@ static esp_err_t stream_handler(httpd_req_t *req)
dl::tool::Latency latency_encode;
dl::tool::Latency latency_detect;
dl::tool::Latency latency_recognize;
dl::tool::Latency latency_moving;
#if CONFIG_DL_HUMAN_FACE
#if CONFIG_DL_HUMAN_FACE_DETECTION_S1_MSR01
@ -198,6 +200,7 @@ static esp_err_t stream_handler(httpd_req_t *req)
latency_detect.clear_period();
latency_recognize.clear_period();
latency_moving.clear_period();
image_ptr = NULL;
is_detected = false;
@ -207,22 +210,42 @@ static esp_err_t stream_handler(httpd_req_t *req)
latency_total.start();
latency_fetch.start();
fb = esp_camera_fb_get();
if (!fb)
frame = esp_camera_fb_get();
if (!frame)
{
ESP_LOGE(TAG, "Camera capture failed");
res = ESP_FAIL;
break;
}
_timestamp.tv_sec = fb->timestamp.tv_sec;
_timestamp.tv_usec = fb->timestamp.tv_usec;
_timestamp.tv_sec = frame->timestamp.tv_sec;
_timestamp.tv_usec = frame->timestamp.tv_usec;
latency_fetch.end();
#if CONFIG_DL_MOVING_TARGET_DETECTION_ENABLED && CONFIG_CAMERA_PIXEL_FORMAT_RGB565
camera_fb_t *frame2 = esp_camera_fb_get();
if (!frame2)
{
ESP_LOGE(TAG, "Camera capture failed");
continue;
}
latency_fetch.end();
latency_moving.start();
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);
latency_moving.end();
if (moving_point_number > 50)
{
ESP_LOGI("Moving Target", "Detected.");
dl::image::draw_filled_rectangle((uint16_t *)frame->buf, frame->height, frame->width, 0, 0, 10, 10);
}
esp_camera_fb_return(frame2);
#endif
#if CONFIG_DL_ENABLED
if (detection_enabled && fb->width < 400)
if (detection_enabled && frame->width < 400)
{
latency_decode.start();
image_ptr = (IMAGE_T *)app_camera_decode(fb);
image_ptr = (IMAGE_T *)app_camera_decode(frame);
if (!image_ptr)
{
ESP_LOGE(TAG, "Frame decode failed");
@ -234,17 +257,17 @@ static esp_err_t stream_handler(httpd_req_t *req)
#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,