esp-who/examples/camera_lcd/main/app_dl.cpp

170 lines
5.2 KiB
C++

#include "app_dl.hpp"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "sdkconfig.h"
#include "app_camera.hpp"
#include "app_lcd.h"
#include <list>
#include "dl_tool.hpp"
#include "dl_image.hpp"
#include "dl_detect_define.hpp"
#include "app_common.hpp"
#if CONFIG_DL_HUMAN_FACE_DETECTION_S1_MSR01
#include "human_face_detect_msr01.hpp"
#endif
#if CONFIG_DL_HUMAN_FACE_DETECTION_S2_MNP01
#include "human_face_detect_mnp01.hpp"
#endif
#if CONFIG_DL_CAT_FACE_DETECTION_MN03
#include "cat_face_detect_mn03.hpp"
#endif
#if CONFIG_DL_HUMAN_FACE_RECOGNITION_XXX
// TODO: recognize human face
#endif
static const char *TAG = "app_dl";
void task_dl(void *arg)
{
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
HumanFaceDetectMSR01 detector(0.3F, 0.3F, 10, 0.3F);
#endif
#if CONFIG_DL_HUMAN_FACE_DETECTION_S2_MNP01
HumanFaceDetectMNP01 detector2(0.4F, 0.3F, 10);
#endif
#if CONFIG_DL_HUMAN_FACE_RECOGNITION_XXX
// TODO: recognize human face
#endif
#endif
#if CONFIG_DL_CAT_FACE
#if CONFIG_DL_CAT_FACE_DETECTION_MN03
CatFaceDetectMN03 detector(0.4F, 0.3F, 10, 0.3F);
#endif
#endif
while (true)
{
latency_fetch.clear_period();
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 *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 *)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 *)frame->buf, {(int)frame->height, (int)frame->width, 3});
#endif
latency_detect.end();
if (detect_results.size() > 0)
{
draw_detection_result((uint16_t *)frame->buf, frame->height, frame->width, detect_results);
#if CONFIG_DL_HUMAN_FACE_RECOGNITION_ENABLED
latency_recognize.start();
// TODO: recognize human face
latency_recognize.end();
#endif
}
#endif // CONFIG_DL_HUMAN_FACE
#if CONFIG_DL_CAT_FACE
latency_detect.start();
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 *)frame->buf, frame->height, frame->width, detect_results);
}
#endif // CONFIG_DL_CAT_FACE
#if CONFIG_DL_HUMAN_HAND
latency_detect.start();
// TODO:
latency_detect.end();
#endif // CONFIG_DL_HUMAN_HAND
#endif // CONFIG_DL_ENABLED
app_lcd_draw_bitmap((uint16_t *)frame->buf, frame->height, frame->width);
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, "
#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);
}
}
void app_dl_init()
{
xTaskCreatePinnedToCore(task_dl, "dl", 4 * 1024, NULL, 5, NULL, 1);
}