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[ESP8266/ESP32]ESP32-AI摄像头物体检测+边框追踪

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[ESP8266/ESP32] ESP32-AI摄像头物体检测+边框追踪

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本帖最后由 楼主 于 2025-5-16 21:32 编辑

本次测试的内容为ESP32 AI camera实现物体检测和物体追踪
五一前收到了心心念念的新一代ESP32 camera，听说从硬件上对产品做了很大的提升。不过最近工作任务太多，测试早早做完了，但是一直没有发帖子分享，这周终于挤出了时间码一篇心得，话不多说看看实测效果。
一、实验目的​​
掌握ESP32 AI Camera的硬件配置与开发环境搭建方法。
设计算法实现动态物体追踪，结合摄像头锁定目标。
二、实验器材与软件环境​​
硬件​​
1.ESP32 AI Camera开发板（带OV2640摄像头模块）
2.伺服舵机（用于物理追踪）
3.USB数据线、杜邦线
4.PC（Windows/Linux）
软件​​
1.Arduino IDE
2.OpenCV库（模型训练与数据预处理）
三、实验原理​​
1.物体检测​​
使用封装好的openCVLibrary348库的模型进行实时图像推理。
通过摄像头采集图像，模型输出目标类别与边界框坐标。
2.物体追踪​​
​​中心点追踪​​：计算检测框中心与画面中心的偏移量，控制云台转动。
​​手动追踪​​：通过手动锁定物体框进行追踪，控制云台转动。
四、实验步骤​​
1.环境搭建​​
安装Arduino ESP32开发板支持包
导入openCV库及摄像头驱动
连接摄像头模块至开发板
2.代码测试 
  1. #include <WebSocketsServer.h>

  2. #include <WiFi.h>

  3. #include <WiFiUdp.h>

  4. #include "camera_wrap.h"

  5. 

  6. // #define DEBUG

  7. // #define SAVE_IMG

  8. 

  9. enum TRACK{

  10.   TRACK_NONE = 0,

  11.   TRACK_FW,

  12.   TRACK_LEFT,

  13.   TRACK_RIGHT,

  14.   TRACK_STOP

  15. };

  16. 

  17. const char* ssid = "PS4";    // <<< change this as yours

  18. const char* password = "22222222"; // <<< change this as yours

  19. //holds the current upload

  20. int cameraInitState = -1;

  21. uint8_t* jpgBuff = new uint8_t[68123];

  22. size_t   jpgLength = 0;

  23. uint8_t camNo=0;

  24. bool clientConnected = false;

  25. 

  26. //Creating UDP Listener Object. 

  27. WiFiUDP UDPServer;

  28. IPAddress addrRemote;

  29. unsigned int portRemote;

  30. unsigned int UDPPort = 6868;

  31. const int RECVLENGTH = 16;

  32. byte packetBuffer[RECVLENGTH];

  33. 

  34. WebSocketsServer webSocket = WebSocketsServer(86);

  35. String html_home;

  36. 

  37. const int LED_BUILT_IN        = 4;

  38. const uint8_t TRACK_DUTY      = 100;

  39. const int PIN_SERVO_PITCH     = 12;

  40. // const int PIN_SERVO_YAW       = 2;

  41. const int PINDC_LEFT_BACK     = 13;

  42. const int PINDC_LEFT_FORWARD  = 15;

  43. const int PINDC_RIGHT_BACK    = 14;

  44. const int PINDC_RIGHT_FORWARD = 2;

  45. const int LEFT_CHANNEL        = 2;

  46. const int RIGHT_CHANNEL       = 3;

  47. const int SERVO_PITCH_CHANNEL = 4;

  48. const int SERVO_YAW_CHANNEL   = 5;

  49. const int SERVO_RESOLUTION    = 16;

  50. unsigned long previousMillisServo = 0;

  51. const unsigned long intervalServo = 10;

  52. bool servoUp = false;

  53. bool servoDown = false;

  54. bool servoRotateLeft = false;

  55. bool servoRotateRight = false;

  56. int posServo = 75;

  57. int PWMTrackHIGH = 138;

  58. int PWMTrackLOW = 138;

  59. 

  60. void servoWrite(uint8_t channel, uint8_t angle) {

  61.   // regarding the datasheet of sg90 servo, pwm period is 20 ms and duty is 1->2ms

  62.   uint32_t maxDuty = (pow(2,SERVO_RESOLUTION)-1)/10; 

  63.   uint32_t minDuty = (pow(2,SERVO_RESOLUTION)-1)/20; 

  64.   uint32_t duty = (maxDuty-minDuty)*angle/180 + minDuty;

  65.   ledcWrite(channel, duty);

  66. }

  67. 

  68. void controlServo(){

  69.   if(servoUp){

  70.     if(posServo>2){

  71.       posServo -= 2;

  72.     }

  73.   }

  74.   if(servoDown){

  75.     if(posServo<180){

  76.       posServo += 2;

  77.     }

  78.   }

  79.   servoWrite(SERVO_PITCH_CHANNEL,posServo);

  80. }

  81. 

  82. void controlDC(int left0, int left1, int right0, int right1){

  83.   digitalWrite(PINDC_LEFT_BACK, left0);

  84.   if(left1 == HIGH){

  85.     ledcWrite(LEFT_CHANNEL, 255);

  86.   }else{

  87.     ledcWrite(LEFT_CHANNEL, 0);

  88.   }

  89.   digitalWrite(PINDC_RIGHT_BACK, right0);

  90.   if(right1 == HIGH){

  91.     ledcWrite(RIGHT_CHANNEL, 255);

  92.   }else{

  93.     ledcWrite(RIGHT_CHANNEL, 0);

  94.   }

  95. }

  96. 

  97. void controlDCTrack(int left, int right){

  98.   digitalWrite(PINDC_LEFT_BACK, 0);

  99.   ledcWrite(LEFT_CHANNEL, left);

  100.   digitalWrite(PINDC_RIGHT_BACK, 0);

  101.   ledcWrite(RIGHT_CHANNEL, right);

  102. }

  103. 

  104. void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {

  105. 

  106.   switch(type) {

  107.       case WStype_DISCONNECTED:

  108.           Serial.printf("[%u] Disconnected!\n", num);

  109.           camNo = num;

  110.           clientConnected = false;

  111.           break;

  112.       case WStype_CONNECTED:

  113.           Serial.printf("[%u] Connected!\n", num);

  114.           clientConnected = true;

  115.           break;

  116.       case WStype_TEXT:

  117.       case WStype_BIN:

  118.       case WStype_ERROR:

  119.       case WStype_FRAGMENT_TEXT_START:

  120.       case WStype_FRAGMENT_BIN_START:

  121.       case WStype_FRAGMENT:

  122.       case WStype_FRAGMENT_FIN:

  123.           Serial.println(type);

  124.           break;

  125.   }

  126. }

  127. 

  128. std::vector<String> splitString(String data, String delimiter){

  129.     std::vector<String> ret;

  130.     // initialize first part (string, delimiter)

  131.     char* ptr = strtok((char*)data.c_str(), delimiter.c_str());

  132. 

  133.     while(ptr != NULL) {

  134.         ret.push_back(String(ptr));

  135.         // create next part

  136.         ptr = strtok(NULL, delimiter.c_str());

  137.     }

  138.     return ret;

  139. }

  140. 

  141. void processUDPData(){

  142.   int cb = UDPServer.parsePacket();

  143. 

  144.   if (cb) {

  145.       UDPServer.read(packetBuffer, RECVLENGTH);

  146.       addrRemote = UDPServer.remoteIP();

  147.       portRemote = UDPServer.remotePort();

  148. 

  149.       String strPackage = String((const char*)packetBuffer);

  150.   #ifdef DEBUG

  151.       Serial.print("receive: ");

  152.       // for (int y = 0; y < RECVLENGTH; y++){

  153.       //   Serial.print(packetBuffer[y]);

  154.       //   Serial.print("\n");

  155.       // }

  156.       Serial.print(strPackage);

  157.       Serial.print(" from: ");

  158.       Serial.print(addrRemote);

  159.       Serial.print(":");

  160.       Serial.println(portRemote);

  161.   #endif

  162.       if(strPackage.equals("whoami")){

  163.           UDPServer.beginPacket(addrRemote, portRemote-1);

  164.           String res = "ESP32-CAM";

  165.           UDPServer.write((const uint8_t*)res.c_str(),res.length());

  166.           UDPServer.endPacket();

  167.           Serial.println("response");

  168.       }else if(strPackage.equals("forward")){

  169.         controlDC(LOW,HIGH,LOW,HIGH);

  170.       }else if(strPackage.equals("backward")){

  171.         controlDC(HIGH,LOW,HIGH,LOW);

  172.       }else if(strPackage.equals("left")){

  173.         controlDC(LOW,LOW,LOW,HIGH);

  174.       }else if(strPackage.equals("right")){

  175.         controlDC(LOW,HIGH,LOW,LOW);

  176.       }else if(strPackage.equals("stop")){

  177.         controlDC(LOW,LOW,LOW,LOW);

  178.       }else if(strPackage.equals("camup")){

  179.         servoUp = true;

  180.       }else if(strPackage.equals("camdown")){

  181.         servoDown = true;

  182.       }else if(strPackage.equals("camstill")){

  183.         servoUp = false;

  184.         servoDown = false;

  185.       }else if(strPackage.equals("ledon")){

  186.         digitalWrite(LED_BUILT_IN, HIGH);

  187.       }else if(strPackage.equals("ledoff")){

  188.         digitalWrite(LED_BUILT_IN, LOW);

  189.       }else if(strPackage.equals("lefttrack")){

  190.         controlDCTrack(0, PWMTrackHIGH);

  191.       }else if(strPackage.equals("righttrack")){

  192.         controlDCTrack(PWMTrackHIGH, 0);

  193.       }else if(strPackage.equals("fwtrack")){

  194.         controlDCTrack(PWMTrackLOW, PWMTrackLOW);

  195.       }

  196. 

  197.       memset(packetBuffer, 0, RECVLENGTH);

  198.   }

  199. 

  200. }

  201. 

  202. void setup(void) {

  203. 

  204.   Serial.begin(115200);

  205.   Serial.print("\n");

  206.   #ifdef DEBUG

  207.   Serial.setDebugOutput(true);

  208.   #endif

  209. 

  210.   pinMode(LED_BUILT_IN, OUTPUT);

  211.   digitalWrite(LED_BUILT_IN, LOW);

  212. 

  213.   pinMode(PINDC_LEFT_BACK, OUTPUT);

  214.   ledcSetup(LEFT_CHANNEL, 100, 8);//channel, freq, resolution

  215.   ledcAttachPin(PINDC_LEFT_FORWARD, LEFT_CHANNEL);

  216.   pinMode(PINDC_RIGHT_BACK, OUTPUT);

  217.   ledcSetup(RIGHT_CHANNEL, 100, 8);//channel, freq, resolution

  218.   ledcAttachPin(PINDC_RIGHT_FORWARD, RIGHT_CHANNEL);

  219. 

  220.   controlDC(LOW,LOW,LOW,LOW);

  221. 

  222.   // 1. 50hz ==> period = 20ms (sg90 servo require 20ms pulse, duty cycle is 1->2ms: -90=>90degree)

  223.   // 2. resolution = 16, maximum value is 2^16-1=65535

  224.   // From 1 and 2 => -90=>90 degree or 0=>180degree ~ 3276=>6553

  225.   ledcSetup(SERVO_PITCH_CHANNEL, 50, 16);//channel, freq, resolution

  226.   ledcAttachPin(PIN_SERVO_PITCH, SERVO_PITCH_CHANNEL);// pin, channel

  227.   servoWrite(SERVO_PITCH_CHANNEL, posServo);

  228. 

  229.   // ledcSetup(SERVO_YAW_CHANNEL, 50, 16);//channel, freq, resolution

  230.   // ledcAttachPin(PIN_SERVO_YAW, SERVO_YAW_CHANNEL);// pin, channel

  231.   // servoWrite(SERVO_YAW_CHANNEL, posServo);

  232. 

  233.   cameraInitState = initCamera();

  234. 

  235.   Serial.printf("camera init state %d\n", cameraInitState);

  236. 

  237.   if(cameraInitState != 0){

  238.     return;

  239.   }

  240. 

  241.   //WIFI INIT

  242.   Serial.printf("Connecting to %s\n", ssid);

  243.   if (String(WiFi.SSID()) != String(ssid)) {

  244.     WiFi.mode(WIFI_STA);

  245.     WiFi.begin(ssid, password);

  246.   }

  247. 

  248.   while (WiFi.status() != WL_CONNECTED) {

  249.     delay(500);

  250.     Serial.print(".");

  251.   }

  252.   Serial.println("");

  253.   Serial.print("Connected! IP address: ");

  254.   String ipAddress = WiFi.localIP().toString();;

  255.   Serial.println(ipAddress);

  256. 

  257.   webSocket.begin();

  258.   webSocket.onEvent(webSocketEvent);

  259. 

  260.   UDPServer.begin(UDPPort); 

  261. }

  262. 

  263. void loop(void) {

  264.   webSocket.loop();

  265.   if(clientConnected == true){

  266.     grabImage(jpgLength, jpgBuff);

  267.     webSocket.sendBIN(camNo, jpgBuff, jpgLength);

  268.     // Serial.print("send img: ");

  269.     // Serial.println(jpgLength);

  270.   }

  271. 

  272.   unsigned long currentMillis = millis();

  273.   if (currentMillis - previousMillisServo >= intervalServo) {

  274.     previousMillisServo = currentMillis;

  275.     processUDPData();

  276.     controlServo();

  277.   }

  278. 

  279.   #ifdef DEBUG

  280.   if (Serial.available()) {

  281.     String data = Serial.readString();

  282.     Serial.println(data);

  283.     std::vector<String> vposVals = splitString(data, ",");

  284.     if(vposVals.size() != 4){

  285.       return;

  286.     }

  287.     int left0 = vposVals[0].toInt();

  288.     int left1 = vposVals[1].toInt();

  289.     int left2 = vposVals[2].toInt();

  290.     int left3 = vposVals[3].toInt();

  291.     controlDC(left0, left1, left2, left3);

  292.   }

  293.   #endif

  294. }
复制代码

五、实验结果​


六、实验总结​​
本次实验成功在ESP32上实现了实时物体检测与基础追踪功能，验证了边缘计算设备的视觉处理能力。尽管存在处理速度与精度的平衡挑战，同时APP软件我只能使用其他国外创客者的开发产品(需要恶补一下app开发的知识，然后将这个软件再做进一步优化).

物体检测

物体检测

物体追踪

物体追踪
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