if(!filter->values){

return value;

}

filter->sum -= filter->values[filter->index];

filter->values[filter->index] = value;

filter->sum += filter->values[filter->index];

filter->index++;

filter->index = filter->index % filter->size;

if (filter->count < filter->size) {

filter->count++;

}

return filter->sum / filter->count;

fb_data_t fb;

fb.width = image_matrix->w;

fb.height = image_matrix->h;

fb.data = image_matrix->item;

fb.bytes_per_pixel = 3;

fb.format = FB_BGR888;

fb_gfx_print(&fb, (fb.width - (strlen(str) * 14)) / 2, 10, color, str);

char loc_buf[64];

char * temp = loc_buf;

int len;

va_list arg;

va_list copy;

va_start(arg, format);

va_copy(copy, arg);

len = vsnprintf(loc_buf, sizeof(loc_buf), format, arg);

va_end(copy);

if(len >= sizeof(loc_buf)){

temp = (char*)malloc(len+1);

if(temp == NULL) {

return 0;

}

}

vsnprintf(temp, len+1, format, arg);

va_end(arg);

rgb_print(image_matrix, color, temp);

if(len > 64){

free(temp);

}

return len;

int x, y, w, h, i;

uint32_t color = FACE_COLOR_YELLOW;

if(face_id < 0){

color = FACE_COLOR_RED;

} else if(face_id > 0){

color = FACE_COLOR_GREEN;

}

fb_data_t fb;

fb.width = image_matrix->w;

fb.height = image_matrix->h;

fb.data = image_matrix->item;

fb.bytes_per_pixel = 3;

fb.format = FB_BGR888;

for (i = 0; i < boxes->len; i++){

// rectangle box

x = (int)boxes->box[i].box_p[0];

y = (int)boxes->box[i].box_p[1];

w = (int)boxes->box[i].box_p[2] - x + 1;

h = (int)boxes->box[i].box_p[3] - y + 1;

fb_gfx_drawFastHLine(&fb, x, y, w, color);

fb_gfx_drawFastHLine(&fb, x, y+h-1, w, color);

fb_gfx_drawFastVLine(&fb, x, y, h, color);

fb_gfx_drawFastVLine(&fb, x+w-1, y, h, color);

#if 0

// landmark

int x0, y0, j;

for (j = 0; j < 10; j+=2) {

x0 = (int)boxes->landmark[i].landmark_p[j];

y0 = (int)boxes->landmark[i].landmark_p[j+1];

fb_gfx_fillRect(&fb, x0, y0, 3, 3, color);

}

#endif

}

dl_matrix3du_t *aligned_face = NULL;

int matched_id = 0;

aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3);

if(!aligned_face){

Serial.println("Could not allocate face recognition buffer");

return matched_id;

}

if (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK){

if (is_enrolling == 1){

int8_t left_sample_face = enroll_face(&id_list, aligned_face);

if(left_sample_face == (ENROLL_CONFIRM_TIMES - 1)){

Serial.printf("Enrolling Face ID: %d\n", id_list.tail);

}

Serial.printf("Enrolling Face ID: %d sample %d\n", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);

rgb_printf(image_matrix, FACE_COLOR_CYAN, "ID[%u] Sample[%u]", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);

if (left_sample_face == 0){

is_enrolling = 0;

Serial.printf("Enrolled Face ID: %d\n", id_list.tail);

}

} else {

matched_id = recognize_face(&id_list, aligned_face);

if (matched_id >= 0) {

Serial.printf("Match Face ID: %u\n", matched_id);

rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello Subject %u", matched_id);

} else {

Serial.println("No Match Found");

rgb_print(image_matrix, FACE_COLOR_RED, "Intruder Alert!");

matched_id = -1;

}

}

} else {

Serial.println("Face Not Aligned");

//rgb_print(image_matrix, FACE_COLOR_YELLOW, "Human Detected");

}

dl_matrix3du_free(aligned_face);

return matched_id;

jpg_chunking_t *j = (jpg_chunking_t *)arg;

if(!index){

j->len = 0;

}

if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){

return 0;

}

j->len += len;

return len;

camera_fb_t * fb = NULL;

esp_err_t res = ESP_OK;

int64_t fr_start = esp_timer_get_time();

fb = esp_camera_fb_get();

if (!fb) {

Serial.println("Camera capture failed");

httpd_resp_send_500(req);

return ESP_FAIL;

}

httpd_resp_set_type(req, "image/jpeg");

httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");

httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

size_t out_len, out_width, out_height;

uint8_t * out_buf;

bool s;

bool detected = false;

int face_id = 0;

if(!detection_enabled || fb->width > 400){

size_t fb_len = 0;

if(fb->format == PIXFORMAT_JPEG){

fb_len = fb->len;

res = httpd_resp_send(req, (const char *)fb->buf, fb->len);

} else {

jpg_chunking_t jchunk = {req, 0};

res = frame2jpg_cb(fb, 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);

int64_t fr_end = esp_timer_get_time();

Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));

return res;

}

dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);

if (!image_matrix) {

esp_camera_fb_return(fb);

Serial.println("dl_matrix3du_alloc failed");

httpd_resp_send_500(req);

return ESP_FAIL;

}

out_buf = image_matrix->item;

out_len = fb->width * fb->height * 3;

out_width = fb->width;

out_height = fb->height;

s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);

esp_camera_fb_return(fb);

if(!s){

dl_matrix3du_free(image_matrix);

Serial.println("to rgb888 failed");

httpd_resp_send_500(req);

return ESP_FAIL;

}

box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config);

if (net_boxes){

detected = true;

if(recognition_enabled){

face_id = run_face_recognition(image_matrix, net_boxes);

}

draw_face_boxes(image_matrix, net_boxes, face_id);

free(net_boxes->score);

free(net_boxes->box);

free(net_boxes->landmark);

free(net_boxes);

}

jpg_chunking_t jchunk = {req, 0};

s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);

dl_matrix3du_free(image_matrix);

if(!s){

Serial.println("JPEG compression failed");

return ESP_FAIL;

}

int64_t fr_end = esp_timer_get_time();

Serial.printf("FACE: %uB %ums %s%d\n", (uint32_t)(jchunk.len), (uint32_t)((fr_end - fr_start)/1000), detected?"DETECTED ":"", face_id);

return res;

camera_fb_t * fb = NULL;

esp_err_t res = ESP_OK;

size_t _jpg_buf_len = 0;

uint8_t * _jpg_buf = NULL;

char * part_buf[64];

dl_matrix3du_t *image_matrix = NULL;

bool detected = false;

int face_id = 0;

int64_t fr_start = 0;

int64_t fr_ready = 0;

int64_t fr_face = 0;

int64_t fr_recognize = 0;

int64_t fr_encode = 0;

static int64_t last_frame = 0;

if(!last_frame) {

last_frame = esp_timer_get_time();

}

res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);

if(res != ESP_OK){

return res;

}

httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

while(true){

detected = false;

face_id = 0;

fb = esp_camera_fb_get();

if (!fb) {

Serial.println("Camera capture failed");

res = ESP_FAIL;

} else {

fr_start = esp_timer_get_time();

fr_ready = fr_start;

fr_face = fr_start;

fr_encode = fr_start;

fr_recognize = fr_start;

if(!detection_enabled || fb->width > 400){

if(fb->format != PIXFORMAT_JPEG){

bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);

esp_camera_fb_return(fb);

fb = NULL;

if(!jpeg_converted){

Serial.println("JPEG compression failed");

res = ESP_FAIL;

}

} else {

_jpg_buf_len = fb->len;

_jpg_buf = fb->buf;

}

} else {

image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);

if (!image_matrix) {

Serial.println("dl_matrix3du_alloc failed");

res = ESP_FAIL;

} else {

if(!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item)){

Serial.println("fmt2rgb888 failed");

res = ESP_FAIL;

} else {

fr_ready = esp_timer_get_time();

box_array_t *net_boxes = NULL;

if(detection_enabled){

net_boxes = face_detect(image_matrix, &mtmn_config);

}

fr_face = esp_timer_get_time();

fr_recognize = fr_face;

if (net_boxes || fb->format != PIXFORMAT_JPEG){

if(net_boxes){

detected = true;

if(recognition_enabled){

face_id = run_face_recognition(image_matrix, net_boxes);

}

fr_recognize = esp_timer_get_time();

draw_face_boxes(image_matrix, net_boxes, face_id);

free(net_boxes->score);

free(net_boxes->box);

free(net_boxes->landmark);

free(net_boxes);

}

if(!fmt2jpg(image_matrix->item, fb->width*fb->height*3, fb->width, fb->height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len)){

Serial.println("fmt2jpg failed");

res = ESP_FAIL;

}

esp_camera_fb_return(fb);

fb = NULL;

} else {

_jpg_buf = fb->buf;

_jpg_buf_len = fb->len;

}

fr_encode = esp_timer_get_time();

}

dl_matrix3du_free(image_matrix);

}

}

}

if(res == ESP_OK){

size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);

res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);

}

if(res == ESP_OK){

res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);

}

if(res == ESP_OK){

res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));

}

if(fb){

esp_camera_fb_return(fb);

fb = NULL;

_jpg_buf = NULL;

} else if(_jpg_buf){

free(_jpg_buf);

_jpg_buf = NULL;

}

if(res != ESP_OK){

break;

}

int64_t fr_end = esp_timer_get_time();

int64_t ready_time = (fr_ready - fr_start)/1000;

int64_t face_time = (fr_face - fr_ready)/1000;

int64_t recognize_time = (fr_recognize - fr_face)/1000;

int64_t encode_time = (fr_encode - fr_recognize)/1000;

int64_t process_time = (fr_encode - fr_start)/1000;

int64_t frame_time = fr_end - last_frame;

last_frame = fr_end;

frame_time /= 1000;

uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);

Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps), %u+%u+%u+%u=%u %s%d\n",

(uint32_t)(_jpg_buf_len),

(uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,

avg_frame_time, 1000.0 / avg_frame_time,

(uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time, (uint32_t)encode_time, (uint32_t)process_time,

(detected)?"DETECTED ":"", face_id

);

}

last_frame = 0;

return res;

char* buf;

size_t buf_len;

char variable[32] = {0,};

char value[32] = {0,};

buf_len = httpd_req_get_url_query_len(req) + 1;

if (buf_len > 1) {

buf = (char*)malloc(buf_len);

if(!buf){

httpd_resp_send_500(req);

return ESP_FAIL;

}

if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {

if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&

httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {

} else {

free(buf);

httpd_resp_send_404(req);

return ESP_FAIL;

}

} else {

free(buf);

httpd_resp_send_404(req);

return ESP_FAIL;

}

free(buf);

} else {

httpd_resp_send_404(req);

return ESP_FAIL;

}

int val = atoi(value);

sensor_t * s = esp_camera_sensor_get();

int res = 0;

if(!strcmp(variable, "framesize")) {

if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val);

}

else if(!strcmp(variable, "quality")) res = s->set_quality(s, val);

else if(!strcmp(variable, "contrast")) res = s->set_contrast(s, val);

else if(!strcmp(variable, "brightness")) res = s->set_brightness(s, val);

else if(!strcmp(variable, "saturation")) res = s->set_saturation(s, val);

else if(!strcmp(variable, "gainceiling")) res = s->set_gainceiling(s, (gainceiling_t)val);

else if(!strcmp(variable, "colorbar")) res = s->set_colorbar(s, val);

else if(!strcmp(variable, "awb")) res = s->set_whitebal(s, val);

else if(!strcmp(variable, "agc")) res = s->set_gain_ctrl(s, val);

else if(!strcmp(variable, "aec")) res = s->set_exposure_ctrl(s, val);

else if(!strcmp(variable, "hmirror")) res = s->set_hmirror(s, val);

else if(!strcmp(variable, "vflip")) res = s->set_vflip(s, val);

else if(!strcmp(variable, "awb_gain")) res = s->set_awb_gain(s, val);

else if(!strcmp(variable, "agc_gain")) res = s->set_agc_gain(s, val);

else if(!strcmp(variable, "aec_value")) res = s->set_aec_value(s, val);

else if(!strcmp(variable, "aec2")) res = s->set_aec2(s, val);

else if(!strcmp(variable, "dcw")) res = s->set_dcw(s, val);

else if(!strcmp(variable, "bpc")) res = s->set_bpc(s, val);

else if(!strcmp(variable, "wpc")) res = s->set_wpc(s, val);

else if(!strcmp(variable, "raw_gma")) res = s->set_raw_gma(s, val);

else if(!strcmp(variable, "lenc")) res = s->set_lenc(s, val);

else if(!strcmp(variable, "special_effect")) res = s->set_special_effect(s, val);

else if(!strcmp(variable, "wb_mode")) res = s->set_wb_mode(s, val);

else if(!strcmp(variable, "ae_level")) res = s->set_ae_level(s, val);

else if(!strcmp(variable, "face_detect")) {

detection_enabled = val;

if(!detection_enabled) {

recognition_enabled = 0;

}

}

else if(!strcmp(variable, "face_enroll")) is_enrolling = val;

else if(!strcmp(variable, "face_recognize")) {

recognition_enabled = val;

if(recognition_enabled){

detection_enabled = val;

}

}

else {

res = -1;

}

if(res){

return httpd_resp_send_500(req);

}

httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

return httpd_resp_send(req, NULL, 0);

static char json_response[1024];

sensor_t * s = esp_camera_sensor_get();

char * p = json_response;

*p++ = '{';

p+=sprintf(p, "\"framesize\":%u,", s->status.framesize);

p+=sprintf(p, "\"quality\":%u,", s->status.quality);

p+=sprintf(p, "\"brightness\":%d,", s->status.brightness);

p+=sprintf(p, "\"contrast\":%d,", s->status.contrast);

p+=sprintf(p, "\"saturation\":%d,", s->status.saturation);

p+=sprintf(p, "\"sharpness\":%d,", s->status.sharpness);

p+=sprintf(p, "\"special_effect\":%u,", s->status.special_effect);

p+=sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode);

p+=sprintf(p, "\"awb\":%u,", s->status.awb);

p+=sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain);

p+=sprintf(p, "\"aec\":%u,", s->status.aec);

p+=sprintf(p, "\"aec2\":%u,", s->status.aec2);

p+=sprintf(p, "\"ae_level\":%d,", s->status.ae_level);

p+=sprintf(p, "\"aec_value\":%u,", s->status.aec_value);

p+=sprintf(p, "\"agc\":%u,", s->status.agc);

p+=sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain);

p+=sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling);

p+=sprintf(p, "\"bpc\":%u,", s->status.bpc);

p+=sprintf(p, "\"wpc\":%u,", s->status.wpc);

p+=sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);

p+=sprintf(p, "\"lenc\":%u,", s->status.lenc);

p+=sprintf(p, "\"vflip\":%u,", s->status.vflip);

p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror);

p+=sprintf(p, "\"dcw\":%u,", s->status.dcw);

p+=sprintf(p, "\"colorbar\":%u,", s->status.colorbar);

p+=sprintf(p, "\"face_detect\":%u,", detection_enabled);

p+=sprintf(p, "\"face_enroll\":%u,", is_enrolling);

p+=sprintf(p, "\"face_recognize\":%u", recognition_enabled);

*p++ = '}';

*p++ = 0;

httpd_resp_set_type(req, "application/json");

httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

return httpd_resp_send(req, json_response, strlen(json_response));

httpd_resp_set_type(req, "text/html");

httpd_resp_set_hdr(req, "Content-Encoding", "gzip");

sensor_t * s = esp_camera_sensor_get();

if (s->id.PID == OV3660_PID) {

return httpd_resp_send(req, (const char *)index_ov3660_html_gz, index_ov3660_html_gz_len);

}

return httpd_resp_send(req, (const char *)index_ov2640_html_gz, index_ov2640_html_gz_len);

httpd_config_t config = HTTPD_DEFAULT_CONFIG();

httpd_uri_t index_uri = {

.uri = "/",

.method = HTTP_GET,

.handler = index_handler,

.user_ctx = NULL

};

httpd_uri_t status_uri = {

.uri = "/status",

.method = HTTP_GET,

.handler = status_handler,

.user_ctx = NULL

};

httpd_uri_t cmd_uri = {

.uri = "/control",

.method = HTTP_GET,

.handler = cmd_handler,

.user_ctx = NULL

};

httpd_uri_t capture_uri = {

.uri = "/capture",

.method = HTTP_GET,

.handler = capture_handler,

.user_ctx = NULL

};

httpd_uri_t stream_uri = {

.uri = "/stream",

.method = HTTP_GET,

.handler = stream_handler,

.user_ctx = NULL

};

ra_filter_init(&ra_filter, 20);

mtmn_config.type = FAST;

mtmn_config.min_face = 80;

mtmn_config.pyramid = 0.707;

mtmn_config.pyramid_times = 4;

mtmn_config.p_threshold.score = 0.6;

mtmn_config.p_threshold.nms = 0.7;

mtmn_config.p_threshold.candidate_number = 20;

mtmn_config.r_threshold.score = 0.7;

mtmn_config.r_threshold.nms = 0.7;

mtmn_config.r_threshold.candidate_number = 10;

mtmn_config.o_threshold.score = 0.7;

mtmn_config.o_threshold.nms = 0.7;

mtmn_config.o_threshold.candidate_number = 1;

face_id_init(&id_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES);

Serial.printf("Starting web server on port: '%d'\n", config.server_port);

if (httpd_start(&camera_httpd, &config) == ESP_OK) {

httpd_register_uri_handler(camera_httpd, &index_uri);

httpd_register_uri_handler(camera_httpd, &cmd_uri);

httpd_register_uri_handler(camera_httpd, &status_uri);

httpd_register_uri_handler(camera_httpd, &capture_uri);

}

config.server_port += 1;

config.ctrl_port += 1;

Serial.printf("Starting stream server on port: '%d'\n", config.server_port);

if (httpd_start(&stream_httpd, &config) == ESP_OK) {

httpd_register_uri_handler(stream_httpd, &stream_uri);

}