Распознавание лица

#include <Arduino.h>
#include <WebSocketsServer.h>
#include <WiFi.h>

#include "camera.h"
#include "img_converters.h"
#include "FaceFinder.h"

// логин-пароль WiFi
#define AP_SSID ""
#define AP_PASS ""

WebSocketsServer ws(82, "", "hub");
FaceFinder face;

void setup() {
    Serial.begin(115200);
    delay(200);
    cam_init(FRAMESIZE_VGA, PIXFORMAT_JPEG, 10);

    WiFi.mode(WIFI_STA);
    WiFi.begin(AP_SSID, AP_PASS);
    while (WiFi.status() != WL_CONNECTED) {
        delay(500);
        Serial.print(".");
    }
    Serial.println();
    Serial.println(WiFi.localIP());

    ws.begin();
}

void loop() {
    ws.loop();
    //if (!ws.connectedClients()) return;

    camera_fb_t *fbj = nullptr;
    fbj = esp_camera_fb_get();
    esp_camera_fb_return(fbj);

    fbj = nullptr;
    fbj = esp_camera_fb_get();

    if (fbj) {
        uint32_t len = fbj->width * fbj->height * 2;
        uint8_t *buf = (uint8_t *)ps_malloc(len);

        if (buf) {
            bool ok = jpg2rgb565(fbj->buf, fbj->len, buf, JPG_SCALE_NONE);
            if (ok) {
                // swap low->high byte
                for (uint32_t i = 0; i < len; i += 2) {
                    uint8_t b = buf[i];
                    buf[i] = buf[i + 1];
                    buf[i + 1] = b;
                }

                face.find(buf, fbj->width, fbj->height, true, 0);
                if (face.found) Serial.printf("%d,%d,%d,%d\n", face.x, face.y, face.w, face.h);

                if (ws.connectedClients()) {
                    size_t jpg_buf_len = 0;
                    uint8_t *jpg_buf = nullptr;
                    ok = fmt2jpg(buf, len, fbj->width, fbj->height, PIXFORMAT_RGB565, 80, &jpg_buf, &jpg_buf_len);
                    if (ok) ws.broadcastBIN(jpg_buf, jpg_buf_len);
                    if (jpg_buf) free(jpg_buf);
                }
            }
            free(buf);
        }
    }
    esp_camera_fb_return(fbj);
    delay(30);
}

#pragma once

#define CAMERA_MODEL_AI_THINKER
//#define CAMERA_MODEL_WROVER_KIT
//#define CAMERA_MODEL_M5STACK_PSRAM
//#define CAMERA_MODEL_M5STACK_WITHOUT_PSRAM

#include "esp_camera.h"

#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_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_WITHOUT_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       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

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

bool cam_init(framesize_t frame_size = FRAMESIZE_VGA, pixformat_t pixel_format = PIXFORMAT_JPEG, int jpeg_quality = 12) {
    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_sccb_sda = SIOD_GPIO_NUM;
    config.pin_sccb_scl = SIOC_GPIO_NUM;
    config.pin_pwdn = PWDN_GPIO_NUM;
    config.pin_reset = RESET_GPIO_NUM;
    config.xclk_freq_hz = 20000000;
    config.pixel_format = pixel_format;
    config.frame_size = frame_size;
    config.jpeg_quality = jpeg_quality;
    config.fb_count = 1;

    esp_err_t result = esp_camera_init(&config);
    return (result == ESP_OK);
}

#pragma once
#include <Arduino.h>
#include <vector>

#include "fb_gfx.h"

// HUMAN
#include "human_face_detect_mnp01.hpp"
#include "human_face_detect_msr01.hpp"

// CAT
// #include "cat_face_detect_mn03.hpp"

class FaceFinder {
   public:
    bool find(uint8_t *buf565, uint16_t width, uint16_t height, bool draw = true, bool fill = false) {
        found = 0;
        frame_w = width;
        frame_h = height;
        {
            // HUMAN
            HumanFaceDetectMSR01 s1(0.1F, 0.5F, 2, 0.3F);
            HumanFaceDetectMNP01 s2(0.4F, 0.3F, 1);
            std::list<dl::detect::result_t> &candidates = s1.infer((uint16_t *)buf565, {height, width, 3});
            std::list<dl::detect::result_t> &results = s2.infer((uint16_t *)buf565, {height, width, 3}, candidates);

            // CAT
            // CatFaceDetectMN03 cat(0.4F, 0.3F, 10, 0.3F);
            // std::list<dl::detect::result_t> &results = cat.infer((uint16_t *)buf565, {height, width, 3});

            if (!results.size()) return 0;

            std::list<dl::detect::result_t>::iterator prediction = results.begin();
            x = (int)prediction->box[0];
            y = (int)prediction->box[1];
            w = (int)prediction->box[2] - x + 1;
            h = (int)prediction->box[3] - y + 1;
            if ((x + w) > width) w = width - x;
            if ((y + h) > height) h = height - y;
            results.end();
        }

        if (draw) {
            fb_data_t fbd;
            fbd.width = width;
            fbd.height = height;
            fbd.data = buf565;
            fbd.bytes_per_pixel = 2;
            fbd.format = FB_RGB565;
            uint32_t color = 0b1111100000000000;
            if (fill) {
                fb_gfx_fillRect(&fbd, x, y, w, h, color);
            } else {
                fb_gfx_drawFastHLine(&fbd, x, y, w, color);
                fb_gfx_drawFastHLine(&fbd, x, y + h - 1, w, color);
                fb_gfx_drawFastVLine(&fbd, x, y, h, color);
                fb_gfx_drawFastVLine(&fbd, x + w - 1, y, h, color);
            }
        }
        found = 1;
        return 1;
    }

    int16_t x, y, w, h;
    uint16_t frame_w, frame_h;
    bool found = 0;
};

<!DOCTYPE html>

<body>
  <input id="ip" type="text" value="192.168.1.6"><br>
  <button onclick="connect()">START</button>
  <button onclick="wsclose()">STOP</button>
  <div id="log_inner"></div>
  <br>
  <img id="img">

  <script>
    let ws = null;
    let flag = false;

    function connect() {
      flag = true;
      ws = new WebSocket(`ws://${ip.value}:82/`, ['hub']);
      console.log('open...');

      ws.onopen = function () {
        console.log('opened');
      };
      ws.onclose = function () {
        console.log('close');
        ws = null;
        if (flag) {
          setTimeout(connect, 1000);
          console.log('reconnect');
        }
      };
      ws.onmessage = function (e) {
        document.getElementById('img').src = URL.createObjectURL(e.data);
      };
    }

    function send(text) {
      if (ws && ws.readyState == 1) ws.send(text);
    }

    function wsclose() {
      flag = false;
      if (ws) ws.close();
    }

  </script>

</body>

</html>