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