基于ESP32的多功能儿童防坠楼系统

设计初衷：最近一段时间，儿童坠楼的新闻越来越多。我在网上搜索得知，大部分坠楼者为2-6岁。而我2岁的弟弟已经会端着椅子，站在阳台上了。我觉得这样十分不安全。在自学C语言和物联网后，我创作了这个“儿童防坠楼系统”，它可以检测儿童是否进入阳台，开启警报和护栏，并向手机发送信息。

明确目标：结合当前的物联网和硬件，我准备制作一个能检测并分辨儿童进入阳台，如果触摸护栏可以有效防止儿童坠楼，还可以在阳台警告儿童，并将警报信息发送给手机，提醒父母的系统。

探索过程：检测报警系统——智能护栏——物联网检测报警系统

实物图片：

主要部件：

它由ESP32主控搭建而成，用了1个FireBeetle主控板（用于WiFi数据传输及控制其他元件），1个ESP32 Cam主控板（用于WIFI传输视频流)，2个超声波传感器（用于检测儿童），1个触摸传感器（用于检测儿童是否触摸护栏），1个LED灯模块（用于提醒儿童），1个录放音模块（用于储存“宝宝不要在靠前”语音，提醒儿童），1个喇叭（用于播放录音），2个舵机（用于硬隔断护栏的升降）、激光切割外壳（用于模拟阳台）和数个配件组成。

工作原理：

它采用了ESP32和Blinker互联的设计，ESP32负责检测及报警，它会收集分析超声波、触摸传感器回传的数据，异常时会声光报警、打开护栏和上传数据。手机端Blinker会根据主控端的数据改变“警报”栏数据颜色、震动提醒，第一时间保证儿童的安全。

工作机制：2个超声波传感器一高一低布置。当低处的超声波数据变化时，代表儿童进入阳台。黄灯亮起，由录放音模块控制的喇叭播放“宝宝不要再靠前”的语音，手机端的警报栏变成红色，同时振动提醒父母。当儿童触摸阳台最外侧贴有铜板的栏杆时，栏杆外的硬隔断围栏会由2个舵机把护栏打开，防止儿童掉出阳台，手机APP中的护栏数据变化。当2个超声波数据均变化时，代表父母进入阳台，所有警报关闭。

演示过程：首先，我们来演示它的儿童检测功能。当儿童进入阳台时，黄灯亮起，喇叭播放“宝宝不要再靠前”的语音。可以看到手机端的“警报”一栏变成了红色，同时震动提醒父母来保护儿童。当儿童触摸阳台最外侧的护栏时，栏杆外的硬隔断围栏会转动，防止儿童掉出阳台并在手机APP中的“护栏”数据加1，代表护栏已开启，而“警报”栏仍为红色。当父母进入阳台后，警报关闭，手机端“警报”栏变成灰色，报警结束。

检测系统：检测系统由2个超声波传感器组成，按1:10的比例一高一低安装在距底部8厘米和16厘米的位置。主控检测每一个超声波的返回值，与初始数值对比，当有不同时返回1，无不同时返回0。由此可得4种情况：00，01，10，11.其中10表示低处的返回值异常，高处的返回值正常，代表儿童进入阳台。而11就表示父母进入阳台。当父母进入阳台时，触摸传感器自动关闭，就不会产生父母误触发的情况。而当儿童进入阳台后，只有父母进入才能关闭警报。原本的触摸传感器只有一个触摸点，我用铜线将触摸点延长，又将铜线接到铜板上进行检测，形成了“点-线-面”的触摸检测系统。

报警系统：报警系统由光报警、声报警、隔断护栏和手机端报警组成。光报警在正常时是熄灭的，儿童进入阳台时为黄灯亮起，触摸护栏时为红灯亮起。声报警在非正常情况下会播放“宝宝不要再靠前”的语音。隔断护栏在儿童触摸护栏时会由2个舵机把护栏翻上来，防止儿童掉出阳台。手机端报警会在主控传回异常数据时将警报一栏变为红色，并振动提醒。

物联网系统：我采用了Blinker平台的手机端程序，在里面创建了一个“儿童防坠楼系统”设备，用主控板以WiFi的方式连接。在手机端中，主要由警报开关、警报计数器、警报显示器和串口调试器组成。当有异常数据返回时，警报显示器会变成红色，手机震动提醒。

创新要点：网络上未搜索到类似产品。市面上大多数的防坠窗不易安装，影响美观，且会带来安全隐患。本系统能利用身高差和大面积触摸板进行有效检测、及时在手机端和现场进行多处预警，并提供主动防护。

说明：因在真正的阳台处不方便演示，我用激光切割制作了一个阳台模型，使用不同高度的模型小人模拟父母和儿童。在真实的阳台下，大部分功能可以正常运行。

拓展设想：机器人可以增加人脸识别功能，高效准确判断儿童进入，防止误触或错报。还可以加入多样的报警方式，如微信、短信、电话等。增加入室盗窃预警。增加智能晾衣架，形成智能阳台等。

代码：

1、FireBeetle ESP32部分：

#define BLINKER_PRINT Serial
#define BLINKER_WIFI
#include <Adafruit_NeoPixel.h>
#include <Blinker.h>
#include <Servo.h>
#include "SR04.h"

char auth[] = "";
char ssid[] = "";
char pswd[] = '";

const int servo1pin = 27;
const int servo2pin = 9;
//bool can_start = false;
#define touch 36
#define TRIG1 25
#define ECHO1 26
#define TRIG2 13
#define ECHO2 5
#define led A4
#define sig 2
#define button 39
//#define start_btn A2

Adafruit_NeoPixel strip = Adafruit_NeoPixel(5, led, NEO_GRB + NEO_KHZ800);
BlinkerButton Button1("btn-1");
BlinkerButton Button2("btn-2");
BlinkerNumber Number1("num-1");
BlinkerNumber Number2("num-2");
BlinkerNumber Number3("num-3");
SR04 sr041 = SR04(ECHO1, TRIG1);
SR04 sr042 = SR04(ECHO2, TRIG2);
Servo servo1;
Servo servo2;
int a, b, count1 = 0, count2 = 0, flag = 0, f1, f2, j;

void setup()
{
  Serial.begin(9600);
#if defined(BLINKER_PRINT)
  BLINKER_DEBUG.stream(BLINKER_PRINT);
#endif
  BLINKER_DEBUG.stream(Serial);
  BLINKER_DEBUG.debugAll();
  Blinker.begin(auth, ssid, pswd);
  Number1.print(count1);
  Number2.print(count2);
  Number3.print(flag);
  Button1.attach(button1_callback);
  Button2.attach(button2_callback);
  Blinker.attachHeartbeat(heartbeat);
  servo1.attach(servo1pin);
  servo2.attach(servo2pin);
  pinMode(touch, INPUT);
  pinMode(button, INPUT);
  pinMode(sig, OUTPUT);
  //pinMode(start_btn, INPUT);
  digitalWrite(sig, LOW);
  servo1.write(180);
  servo2.write(0);
  strip.begin();
  strip.show();
  for (int i = 0; i <= 5; i++)
  {
    strip.setPixelColor(i, strip.Color(0, 0, 0));
    strip.show();
  }
}

void play()
{
  digitalWrite(sig, HIGH);
  delay(200);
  digitalWrite(sig, LOW);
  delay(2900);
}

void hulanon()
{
  servo1.write(1);
  servo2.write(180);
  delay(300);
}
void hulanoff()
{
  servo1.write(179);
  servo2.write(1);
  delay(300);
}

void yled()
{
  for (int i = 0; i <= 4; i++)
  {
    strip.setPixelColor(i, strip.Color(255, 255, 0));  // yellow(255, 0, 255)   red( 0, 0, 255)
    strip.show();
  }
}
void rled()
{
  for (int i = 0; i <= 4; i++)
  {
    strip.setPixelColor(i, strip.Color(255, 0, 0));
    strip.show();
  }
}
void bled()
{
  for (int i = 0; i <= 4; i++)
  {
    strip.setPixelColor(i, strip.Color(0, 0, 0));
    strip.show();
  }
}

void heartbeat()
{
  Number1.print(count1);
  Number2.print(count2);
  Number3.print(flag);
}
void button1_callback(const String & state)
{
  BLINKER_LOG("button1:", state);
  count1++;
  if (count1 % 2 == 1)
  {
    rled();
    play();
    flag = 1;
    Blinker.vibrate(1000);
  }
  else
  {
    bled();
    flag = 0;
  }
  Number1.print(count1);
}
void button2_callback(const String & state)
{
  BLINKER_LOG("button2:", state);
  count2++;
  if (count2 % 2 == 1)
  {
    hulanon();
    flag = 1;
    Blinker.vibrate(1000);
  }
  else
  {
    hulanoff();
    flag = 0;
  }
  Number2.print(count2);
}
void loop()
{
  Blinker.run();
  /*if (digitalRead(start_btn) == 0) {
    can_start = true;
  }
  while  (can_start == false) {
  }
  Serial.print("next");*/
  bled();
  a = sr041.Distance();
  b = sr042.Distance();
  if (a >= 22 && a <= 27) f1 = 0;
  else f1 = 1;
  Serial.print("f1:");
  Serial.println(a);
  if (b >= 22 && b <= 27) f2 = 0;
  else f2 = 1;
  Serial.print("f2:");
  Serial.println(b);
  bled();
  if (f1 == 1 && f2 == 0)
  {
    yled();
    play();
    count1++;
    flag = 1;
    Blinker.vibrate(1000);
    Serial.println("Children enter balcony!");
    if (digitalRead(touch) == HIGH)
    {
      Serial.println(digitalRead(touch));
      for (j = 1; j <= 2; j++)
      {
        flag = 1;
        hulanon();
        count2++;
        Blinker.vibrate(1000);
        rled();
        play();
        Serial.println("Children touch guardrail!");
        if (f1 == 1 && f2 == 1 && digitalRead(button) == HIGH)
        {
          flag = 0;
          hulanoff();
          Serial.println("Children leave the balcony!");
        }
      }
      Blinker.delay(200);
    }
  }
  Blinker.delay(200);
  if (f1 == 1 && f2 == 1 && digitalRead(button) == HIGH)
  {
    bled();
    hulanoff();
    flag = 0;
    Serial.println("Children leave the balcony!");
  }
  Blinker.delay(200);
}
复制代码

2、ESP32 Cam部分：

#include "esp_camera.h"
#include <WiFi.h>
#define CAMERA_MODEL_AI_THINKER
#include "camera_pins.h"
const char* ssid = "CHENLL";
const char* password = "246813579";
void startCameraServer();
void setup() {
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();
  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_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.pixel_format = PIXFORMAT_JPEG;
    if(psramFound()){
    config.frame_size = FRAMESIZE_UXGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_SVGA;
    config.jpeg_quality = 12;
    config.fb_count = 1;
  }
#if defined(CAMERA_MODEL_ESP_EYE)
  pinMode(13, INPUT_PULLUP);
  pinMode(14, INPUT_PULLUP);
#endif
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    return;
  }
  sensor_t * s = esp_camera_sensor_get();
  if (s->id.PID == OV3660_PID) {
    s->set_vflip(s, 1);
    s->set_brightness(s, 1);
    s->set_saturation(s, -2);
  }
  s->set_framesize(s, FRAMESIZE_SVGA);
#if defined(CAMERA_MODEL_M5STACK_WIDE) || defined(CAMERA_MODEL_M5STACK_ESP32CAM)
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);
#endif
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");
  startCameraServer();
  Serial.print("Camera Ready!Connect to http://");
  Serial.print(WiFi.localIP());
}
void loop() {
  delay(10000);
}
复制代码

#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "camera_index.h"
#include "Arduino.h"

#include "fb_gfx.h"
#include "fd_forward.h"
#include "fr_forward.h"

#define ENROLL_CONFIRM_TIMES 5
#define FACE_ID_SAVE_NUMBER 7

#define FACE_COLOR_WHITE  0x00FFFFFF
#define FACE_COLOR_BLACK  0x00000000
#define FACE_COLOR_RED    0x000000FF
#define FACE_COLOR_GREEN  0x0000FF00
#define FACE_COLOR_BLUE   0x00FF0000
#define FACE_COLOR_YELLOW (FACE_COLOR_RED | FACE_COLOR_GREEN)
#define FACE_COLOR_CYAN   (FACE_COLOR_BLUE | FACE_COLOR_GREEN)
#define FACE_COLOR_PURPLE (FACE_COLOR_BLUE | FACE_COLOR_RED)

typedef struct {
        size_t size; //number of values used for filtering
        size_t index; //current value index
        size_t count; //value count
        int sum;
        int * values; //array to be filled with values
} ra_filter_t;

typedef struct {
        httpd_req_t *req;
        size_t len;
} jpg_chunking_t;

#define PART_BOUNDARY "123456789000000000000987654321"
static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";

static ra_filter_t ra_filter;
httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

static mtmn_config_t mtmn_config = {0};
static int8_t detection_enabled = 0;
static int8_t recognition_enabled = 0;
static int8_t is_enrolling = 0;
static face_id_list id_list = {0};

static ra_filter_t * ra_filter_init(ra_filter_t * filter, size_t sample_size){
    memset(filter, 0, sizeof(ra_filter_t));

    filter->values = (int *)malloc(sample_size * sizeof(int));
    if(!filter->values){
        return NULL;
    }
    memset(filter->values, 0, sample_size * sizeof(int));

    filter->size = sample_size;
    return filter;
}

static int ra_filter_run(ra_filter_t * filter, int value){
    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;
}

static void rgb_print(dl_matrix3du_t *image_matrix, uint32_t color, const char * str){
    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);
}

static int rgb_printf(dl_matrix3du_t *image_matrix, uint32_t color, const char *format, ...){
    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;
}

static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes, int face_id){
    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
    }
}

static int run_face_recognition(dl_matrix3du_t *image_matrix, box_array_t *net_boxes){
    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;
}

static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){
    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;
}

static esp_err_t capture_handler(httpd_req_t *req){
    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;
}

static esp_err_t stream_handler(httpd_req_t *req){
    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){
            res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
        }
        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(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;
}

static esp_err_t cmd_handler(httpd_req_t *req){
    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 esp_err_t status_handler(httpd_req_t *req){
    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));
}

static esp_err_t index_handler(httpd_req_t *req){
    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);
}

void startCameraServer(){
    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);
    }
}
复制代码

#define index_ov2640_html_gz_len 4316
const uint8_t index_ov2640_html_gz[] = {
 0x1F, 0x8B, 0x08, 0x08, 0x50, 0x5C, 0xAE, 0x5C, 0x00, 0x03, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x5F,
 0x6F, 0x76, 0x32, 0x36, 0x34, 0x30, 0x2E, 0x68, 0x74, 0x6D, 0x6C, 0x00, 0xE5, 0x5D, 0x7B, 0x73,
 0xD3, 0xC6, 0x16, 0xFF, 0x9F, 0x4F, 0x21, 0x04, 0x25, 0xF6, 0x34, 0x76, 0x6C, 0xC7, 0x84, 0xE0,
 0xDA, 0xE2, 0x42, 0x08, 0xD0, 0x19, 0x5E, 0x25, 0x2D, 0x74, 0xA6, 0xD3, 0x81, 0xB5, 0xB4, 0xB2,
 0x55, 0x64, 0xC9, 0x95, 0x56, 0x76, 0x52, 0x26, 0x9F, 0xE3, 0x7E, 0xA0, 0xFB, 0xC5, 0xEE, 0xD9,
 0x87, 0xA4, 0x95, 0xBC, 0x7A, 0xD8, 0x26, 0x36, 0x97, 0xEB, 0xCC, 0x14, 0xD9, 0xDA, 0x73, 0xF6,
 0x9C, 0xF3, 0x3B, 0xAF, 0x5D, 0x3D, 0x3A, 0xBC, 0x6D, 0xF9, 0x26, 0xB9, 0x9A, 0x63, 0x6D, 0x4A,
 0x66, 0xAE, 0x71, 0x6B, 0xC8, 0xFF, 0xD1, 0xE0, 0x33, 0x9C, 0x62, 0x64, 0xF1, 0x43, 0xF6, 0x75,
 0x86, 0x09, 0xD2, 0xCC, 0x29, 0x0A, 0x42, 0x4C, 0x46, 0x7A, 0x44, 0xEC, 0xD6, 0xA9, 0x9E, 0x3F,
 0xED, 0xA1, 0x19, 0x1E, 0xE9, 0x0B, 0x07, 0x2F, 0xE7, 0x7E, 0x40, 0x74, 0xCD, 0xF4, 0x3D, 0x82,
 0x3D, 0x18, 0xBE, 0x74, 0x2C, 0x32, 0x1D, 0x59, 0x78, 0xE1, 0x98, 0xB8, 0xC5, 0xBE, 0x1C, 0x3A,
 0x9E, 0x43, 0x1C, 0xE4, 0xB6, 0x42, 0x13, 0xB9, 0x78, 0xD4, 0x95, 0x79, 0x11, 0x87, 0xB8, 0xD8,
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//File: index_ov3660.html.gz, Size: 4408
#define index_ov3660_html_gz_len 4408
const uint8_t index_ov3660_html_gz[] = {
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 0xF1, 0x7B, 0xCC, 0x86, 0x06, 0xF5, 0x43, 0x9C, 0x66, 0x8B, 0xDD, 0x32, 0xAE, 0x91, 0x58, 0x85,
 0x8C, 0x27, 0xC8, 0x09, 0x32, 0x9C, 0xC3, 0x85, 0x8D, 0x28, 0x7E, 0xC7, 0x76, 0x0C, 0x61, 0x40,
 0x0D, 0x3B, 0x27, 0x62, 0xFB, 0xF0, 0x44, 0x9E, 0x79, 0x03, 0x7C, 0x29, 0x3E, 0x4E, 0x66, 0x55,
 0x7F, 0x06, 0x8A, 0xF4, 0xD7, 0xA1, 0xE1, 0x86, 0x10, 0xC2, 0x8F, 0xB9, 0x0A, 0x46, 0x3F, 0x75,
 0x96, 0x53, 0x3B, 0x90, 0x9D, 0xE4, 0x3B, 0xDB, 0xF9, 0x9C, 0xFC, 0x47, 0x32, 0x61, 0x13, 0x37,
 0xF8, 0x1B, 0xE4, 0x87, 0xC0, 0xE3, 0x28, 0xCA, 0xEE, 0x47, 0xC9, 0x8B, 0x79, 0x55, 0x22, 0x6E,
 0x87, 0x86, 0xEC, 0x83, 0xE5, 0xF9, 0xA5, 0x3C, 0x71, 0xF7, 0xEE, 0x32, 0xE6, 0x6B, 0x28, 0xC3,
 0xE0, 0x54, 0x72, 0xE2, 0x06, 0x4E, 0x28, 0x4F, 0x3F, 0xAF, 0xF3, 0xCE, 0xF0, 0x88, 0x98, 0x2B,
 0x1C, 0xEE, 0xC4, 0x92, 0xA7, 0x2C, 0xF0, 0xE0, 0x41, 0x9A, 0xDB, 0xDD, 0xA1, 0xA4, 0x4A, 0x34,
 0x11, 0xE3, 0x21, 0x32, 0x20, 0xF2, 0x40, 0x6D, 0xF9, 0x4C, 0xBC, 0x14, 0x89, 0x4C, 0x6A, 0x77,
 0x53, 0x86, 0x8F, 0x65, 0x9C, 0x30, 0x13, 0x11, 0x9B, 0x1B, 0x88, 0x5F, 0x33, 0x3C, 0x4E, 0x9E,
 0x7A, 0x15, 0xF2, 0x3D, 0xE6, 0x5E, 0x5F, 0xC3, 0xF2, 0xF2, 0xDB, 0x31, 0xD8, 0x9F, 0x39, 0x73,
 0xF2, 0x83, 0x1C, 0x9F, 0x4C, 0xA5, 0x72, 0x9C, 0xA6, 0x38, 0x32, 0xC5, 0x32, 0x72, 0xB3, 0x0F,
 0x9F, 0x00, 0x86, 0xB2, 0x9D, 0xEF, 0xE4, 0xF9, 0xFC, 0x8C, 0x39, 0xD9, 0x87, 0x4F, 0xBC, 0x3E,
 0xB0, 0x50, 0x82, 0xE8, 0x0E, 0x09, 0x8D, 0x62, 0x9C, 0xDD, 0x6A, 0xCC, 0x54, 0xE2, 0x22, 0xC0,
 0x61, 0x11, 0xAB, 0x4C, 0x01, 0xD7, 0x30, 0x14, 0x01, 0x55, 0x13, 0xF5, 0xE9, 0x29, 0xAF, 0x35,
 0x8C, 0xB9, 0x8C, 0x95, 0xF4, 0xEF, 0x77, 0x54, 0xE1, 0x6F, 0xA2, 0xF0, 0x89, 0x53, 0x99, 0x8A,
 0x27, 0xF3, 0xE3, 0xC8, 0x62, 0xCC, 0xD5, 0x13, 0x87, 0x91, 0xAF, 0x2B, 0x89, 0xFC, 0x3C, 0x31,
 0xAB, 0x05, 0x39, 0x4C, 0xF1, 0xF8, 0x7E, 0x46, 0x54, 0xD5, 0xD5, 0x41, 0xEE, 0x96, 0xA1, 0xBE,
 0x80, 0x64, 0x0C, 0xA9, 0xF0, 0x63, 0x8A, 0x0F, 0xDF, 0xB0, 0x8F, 0x99, 0x88, 0xDF, 0xC4, 0xE5,
 0xFD, 0xBA, 0xE7, 0x62, 0x3D, 0x77, 0xD5, 0xD9, 0x75, 0x3C, 0x45, 0x29, 0xCE, 0x32, 0x0D, 0xC7,
 0x73, 0x42, 0x35, 0x0C, 0x8F, 0x20, 0x0D, 0xEB, 0x78, 0xC9, 0x06, 0x2D, 0x21, 0xF0, 0x31, 0x0D,
 0x7D, 0x57, 0x8D, 0x26, 0x91, 0x91, 0xFE, 0x0E, 0xB1, 0x7F, 0x0D, 0x8C, 0x3E, 0xDC, 0xFF, 0x14,
 0xE5, 0xF7, 0x9B, 0x53, 0xFE, 0x6C, 0x8E, 0xE7, 0x3C, 0x86, 0x0A, 0x30, 0xBC, 0xFF, 0x89, 0x43,
 0x7D, 0xF3, 0x00, 0xA6, 0x84, 0x2F, 0x7C, 0xE2, 0x9B, 0x0F, 0x82, 0xC5, 0x84, 0xBD, 0x3E, 0xBB,
 0xC6, 0x59, 0x44, 0xB8, 0x35, 0xE8, 0x0C, 0xBB, 0x35, 0x1F, 0x07, 0x0B, 0x60, 0x8F, 0x93, 0x44,
 0x16, 0xCD, 0xE8, 0x39, 0x18, 0x4A, 0xCD, 0xB4, 0xF6, 0xC1, 0xC7, 0x40, 0x07, 0x02, 0x50, 0xCF,
 0xB8, 0xFF, 0x89, 0xB3, 0xB8, 0x31, 0x26, 0x10, 0xCD, 0xC1, 0x0C, 0xDB, 0x27, 0x50, 0x77, 0x10,
 0x65, 0x4F, 0xA6, 0xDF, 0xFF, 0x14, 0xB1, 0x6A, 0x88, 0x9F, 0x6E, 0x3E, 0xC4, 0x1E, 0x12, 0x17,
 0x83, 0xA8, 0x86, 0xF1, 0x13, 0x0D, 0xCE, 0xEB, 0x2D, 0x47, 0xC1, 0xF3, 0x9F, 0x38, 0x4E, 0xED,
 0x48, 0xBC, 0x7E, 0x41, 0xE6, 0xE8, 0x06, 0x34, 0x9D, 0x97, 0x08, 0xC4, 0x56, 0x93, 0x3B, 0xCF,
 0x3B, 0x9E, 0x6B, 0x39, 0xC4, 0xFA, 0xC8, 0x12, 0xF3, 0x71, 0x5A, 0x70, 0x11, 0xE9, 0x4E, 0x43,
 0xBC, 0x4E, 0xEB, 0xB5, 0x67, 0xE3, 0x8C, 0x9B, 0x1E, 0x33, 0x31, 0x4E, 0x4F, 0xC1, 0xCA, 0xC8,
 0x8E, 0x52, 0x92, 0xC0, 0x88, 0xBD, 0x77, 0x45, 0x98, 0x29, 0x65, 0x61, 0xA1, 0x8C, 0xD4, 0x45,
 0xD8, 0x2C, 0xA9, 0xD6, 0x91, 0xCA, 0x89, 0xDB, 0x0A, 0xF4, 0x8C, 0xD8, 0x16, 0x7F, 0x05, 0x9E,
 0x5B, 0x3B, 0xBE, 0x13, 0x9B, 0x61, 0x9D, 0x07, 0x9B, 0x40, 0x61, 0x90, 0x32, 0x51, 0x9E, 0x99,
 0xD2, 0x5D, 0xFD, 0x51, 0x92, 0x49, 0x72, 0x6C, 0x26, 0x3E, 0x4A, 0x4D, 0xE3, 0x05, 0x8D, 0xCF,
 0xFC, 0x07, 0x77, 0x9A, 0x3F, 0x4F, 0x44, 0x11, 0x54, 0x72, 0xD2, 0xB1, 0x62, 0x30, 0xE1, 0x81,
 0xEC, 0xBF, 0x1E, 0x51, 0x1B, 0x11, 0xE8, 0xAE, 0x2F, 0x1D, 0xCC, 0x0E, 0x9F, 0x5E, 0xFF, 0x00,
 0xC5, 0x5B, 0xB4, 0x20, 0x5C, 0x9A, 0x84, 0xE0, 0x22, 0x6E, 0xFF, 0x4A, 0x29, 0x93, 0x56, 0x51,
 0xE1, 0xC1, 0xDB, 0x77, 0x91, 0x71, 0x8A, 0x38, 0xC4, 0x9D, 0x7E, 0x8A, 0x94, 0x71, 0x2D, 0xA7,
 0x4D, 0xF5, 0xF7, 0x0A, 0xBD, 0x9A, 0xED, 0x8A, 0xE8, 0x95, 0x96, 0x5E, 0xA1, 0xE6, 0xAE, 0x5C,
 0x4E, 0xAC, 0x36, 0xB7, 0x47, 0x8A, 0xB1, 0x03, 0xEA, 0x2D, 0xC4, 0x1A, 0x23, 0xE3, 0xE6, 0x2B,
 0xE2, 0xDA, 0xDE, 0xAA, 0xC1, 0xCE, 0xD7, 0x64, 0x91, 0x54, 0x15, 0x6D, 0x10, 0x17, 0x0C, 0xF8,
 0xE2, 0x97, 0x57, 0x2F, 0x59, 0xD2, 0x51, 0xD7, 0x2A, 0x47, 0xE9, 0x0E, 0x87, 0xBF, 0xEB, 0x5C,
 0x3B, 0x03, 0x83, 0xAD, 0x01, 0x4D, 0xB3, 0x48, 0x36, 0x71, 0x63, 0xC9, 0x62, 0x81, 0x1D, 0x7E,
 0x10, 0x73, 0xB2, 0xD2, 0x93, 0x02, 0xF8, 0xB8, 0x54, 0x16, 0x6F, 0x91, 0x15, 0x05, 0x22, 0xF1,
 0x09, 0xA5, 0xE0, 0xB0, 0x86, 0x70, 0xE5, 0x80, 0x65, 0x19, 0xB9, 0xCE, 0xBB, 0x63, 0xA8, 0xE0,
 0xE7, 0x04, 0x7D, 0x62, 0x26, 0x19, 0x65, 0x69, 0xE1, 0x95, 0x4C, 0x89, 0x16, 0x10, 0x99, 0xF8,
 0xF1, 0x7B, 0x6B, 0x0C, 0xC9, 0xF1, 0x19, 0x78, 0x7E, 0xC3, 0x05, 0x0D, 0x8E, 0x6F, 0x8A, 0xD4,
 0x11, 0xE6, 0x4A, 0x80, 0xAC, 0x2A, 0x04, 0x4F, 0x43, 0x7A, 0x6E, 0x29, 0xFB, 0xE8, 0xD9, 0xA9,
 0xDE, 0x2B, 0xAE, 0xDD, 0xB2, 0x36, 0x2D, 0xCF, 0xB0, 0xC3, 0x75, 0xD3, 0x8A, 0x3E, 0x25, 0xC5,
 0x20, 0x49, 0x30, 0x6B, 0xC2, 0x66, 0xDA, 0x14, 0xC5, 0x2F, 0xA2, 0x01, 0x91, 0xEC, 0x6A, 0x40,
 0xE4, 0xC8, 0x9E, 0xEE, 0xE2, 0x32, 0xED, 0x42, 0x06, 0x72, 0x99, 0xC5, 0x0C, 0xF6, 0xD6, 0x8F,
 0x19, 0x2B, 0xD0, 0xD2, 0x09, 0xAA, 0x14, 0x0A, 0x6D, 0x06, 0x2C, 0xAC, 0x18, 0x62, 0x86, 0x48,
 0xDA, 0x6C, 0xB7, 0x99, 0xAE, 0x0E, 0x17, 0x21, 0x58, 0x69, 0x1E, 0xF9, 0xA4, 0xF8, 0x8D, 0xB5,
 0x6C, 0x71, 0xF0, 0x40, 0x0B, 0x57, 0x14, 0xD4, 0x70, 0x5A, 0xC9, 0x04, 0xB2, 0xDF, 0x2B, 0x21,
 0x50, 0xEE, 0xBA, 0xE0, 0xB4, 0xF0, 0xD3, 0xBA, 0xD8, 0x1A, 0x23, 0xC3, 0xB8, 0xE3, 0x18, 0x73,
 0x46, 0x24, 0xBB, 0xA2, 0x04, 0xF1, 0xF5, 0xEE, 0x34, 0x0B, 0xF9, 0x5A, 0x57, 0x7A, 0xA3, 0xA0,
 0x15, 0xDD, 0xB7, 0x96, 0xE8, 0x83, 0x8B, 0x95, 0xC7, 0xAA, 0xF2, 0x51, 0x97, 0x5D, 0x42, 0xA1,
 0xDE, 0x65, 0x27, 0xD4, 0xC7, 0x15, 0xD5, 0xC7, 0x52, 0x7D, 0x46, 0x90, 0x34, 0x84, 0xE5, 0x2D,
 0x7F, 0xEC, 0x8C, 0xBF, 0x3D, 0x4D, 0x34, 0x5B, 0x8D, 0x0B, 0xE5, 0x94, 0xAD, 0xB8, 0xA2, 0x5E,
 0x31, 0x41, 0xEA, 0x9E, 0x62, 0xA1, 0xD6, 0x6A, 0x5C, 0x4D, 0xAD, 0xA8, 0x95, 0x67, 0x04, 0x89,
 0x5A, 0xFA, 0x86, 0x3F, 0x52, 0x25, 0xDE, 0x42, 0xE6, 0xFF, 0xA7, 0x4B, 0xFC, 0xCE, 0x94, 0x58,
 0x58, 0xB1, 0xFF, 0x5A, 0x5A, 0xCA, 0xC4, 0x30, 0x45, 0xC9, 0x78, 0xC9, 0x50, 0x4A, 0x1A, 0x8F,
 0x54, 0xA8, 0x63, 0x39, 0x0A, 0xA9, 0xA3, 0x41, 0xA2, 0x06, 0xC6, 0x5F, 0x2B, 0x19, 0x2B, 0x1E,
 0x9D, 0x04, 0x42, 0xC2, 0x40, 0x34, 0xE0, 0x23, 0xE3, 0x2C, 0xBB, 0xD4, 0x14, 0x8D, 0x90, 0x50,
 0x36, 0xD3, 0xFE, 0xA8, 0x03, 0x62, 0x95, 0x52, 0x63, 0xE2, 0x00, 0x11, 0xF4, 0x79, 0x62, 0x96,
 0x8A, 0x82, 0x1C, 0xEC, 0xD3, 0x9A, 0xF9, 0x93, 0x83, 0xD9, 0xF2, 0x41, 0xDE, 0x14, 0x7E, 0xF1,
 0xC3, 0x73, 0xC3, 0xF3, 0x0D, 0xF1, 0x16, 0x4D, 0x3F, 0x7E, 0x6B, 0x8E, 0x21, 0x5F, 0x31, 0xC7,
 0x17, 0x69, 0xC4, 0x9D, 0x1A, 0x74, 0x46, 0x02, 0xE8, 0x59, 0xD9, 0x93, 0xE0, 0xF8, 0xAE, 0x19,
 0xBF, 0x45, 0xAE, 0x54, 0x3D, 0xD1, 0xA4, 0x7E, 0x17, 0x2B, 0x92, 0x31, 0xA7, 0xA0, 0x49, 0x6C,
 0x79, 0x57, 0xEA, 0xB8, 0x96, 0x58, 0x8A, 0x96, 0x85, 0x1B, 0x98, 0x30, 0x3E, 0xFD, 0xC5, 0x5A,
 0x51, 0xAF, 0x40, 0xA9, 0x21, 0x63, 0xB2, 0xC4, 0x96, 0x89, 0xAE, 0x6B, 0xD6, 0xD4, 0xAD, 0xBD,
 0x0B, 0x10, 0x65, 0x5B, 0x49, 0xDA, 0x6C, 0x9E, 0x8F, 0x8A, 0xB0, 0xB8, 0xA8, 0x72, 0xE2, 0x33,
 0x38, 0x8D, 0x36, 0x2C, 0xC5, 0x37, 0xF1, 0x52, 0xAE, 0xC1, 0xA9, 0xF8, 0x9F, 0x0A, 0xFF, 0x0B,
 0x9B, 0xFC, 0x8E, 0x51, 0xC1, 0x70, 0x00, 0x00
};
复制代码

#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_ESP_EYE)
#define PWDN_GPIO_NUM    -1
#define RESET_GPIO_NUM   -1
#define XCLK_GPIO_NUM    4
#define SIOD_GPIO_NUM    18
#define SIOC_GPIO_NUM    23

#define Y9_GPIO_NUM      36
#define Y8_GPIO_NUM      37
#define Y7_GPIO_NUM      38
#define Y6_GPIO_NUM      39
#define Y5_GPIO_NUM      35
#define Y4_GPIO_NUM      14
#define Y3_GPIO_NUM      13
#define Y2_GPIO_NUM      34
#define VSYNC_GPIO_NUM   5
#define HREF_GPIO_NUM    27
#define PCLK_GPIO_NUM    25

#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_V2_PSRAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     22
#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    25
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_M5STACK_WIDE)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     22
#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    25
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_M5STACK_ESP32CAM)
#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

#elif defined(CAMERA_MODEL_TTGO_T_JOURNAL)
#define PWDN_GPIO_NUM      0
#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

#else
#error "Camera model not selected"
#endif
复制代码

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