diff --git a/3D Design/proto_goals.pdf b/3D Design/proto_goals.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..53cef8eebd81b88f50f2769c33ba8774b4f86dae
Binary files /dev/null and b/3D Design/proto_goals.pdf differ
diff --git a/Code/Ball_Detection/PyTorch_with_ESPCAM/README.md b/Code/Ball_Detection/PyTorch_with_ESPCAM/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..54eecc3fc4cbfa28404bc4981e2d392322e2c21c
--- /dev/null
+++ b/Code/Ball_Detection/PyTorch_with_ESPCAM/README.md
@@ -0,0 +1,6 @@
+
+**Supporting file to be found on https://git.uclalemur.com/aaronjs/foray-ball-detection**
+
+Replacing the `aaronjs/foray-balll-detection/live-full-detection-detecto.py` to `live-full-detection-detecto_with_ESP_CAM.py` in the current directory.
+
+It allows ESP32 CAM video stream as the input for the ML code.
diff --git a/Code/Ball_Detection/PyTorch_with_ESPCAM/imageTread.py b/Code/Ball_Detection/PyTorch_with_ESPCAM/imageTread.py
new file mode 100644
index 0000000000000000000000000000000000000000..a93b4445a73c295d82eabc3e7e323ba1e5aa8ecb
--- /dev/null
+++ b/Code/Ball_Detection/PyTorch_with_ESPCAM/imageTread.py
@@ -0,0 +1,33 @@
+import cv2
+from urllib.request import urlopen, Request
+import numpy as np
+
+def nothing(x):
+ pass
+
+
+
+#change the IP address below according to the
+#IP shown in the Serial monitor of Arduino code
+url='http://192.168.1.107/cam-lo.jpg'
+# url='http://192.168.1.107/cam-hi.jpg'
+# url='http://192.168.1.107/cam-mid.jpg'
+
+
+cv2.namedWindow("live transmission", cv2.WINDOW_AUTOSIZE)
+
+
+while True:
+ header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
+ req = Request(url, headers=header)
+ img_resp = urlopen(req, timeout=60)
+ imgnp=np.array(bytearray(img_resp.read()),dtype=np.uint8)
+ frame=cv2.imdecode(imgnp,-1)
+
+
+ cv2.imshow("live transmission", frame)
+ key=cv2.waitKey(5)
+ if key==ord('q'):
+ break
+
+cv2.destroyAllWindows()
diff --git a/Code/Ball_Detection/PyTorch_with_ESPCAM/live-full-detection-detecto_with_ESP_CAM.py b/Code/Ball_Detection/PyTorch_with_ESPCAM/live-full-detection-detecto_with_ESP_CAM.py
new file mode 100644
index 0000000000000000000000000000000000000000..9888d1c8540a9bf955051841487ddebdeb0bdd33
--- /dev/null
+++ b/Code/Ball_Detection/PyTorch_with_ESPCAM/live-full-detection-detecto_with_ESP_CAM.py
@@ -0,0 +1,268 @@
+## Codebase - Live Training-based Ball Detection (COMPLETE)
+### Import Modules and Drive
+import os
+import cv2
+import glob
+import torch
+import numpy as np
+import torch.nn as nn
+import torch.quantization
+import matplotlib.pyplot as plt
+import matplotlib.patches as patches
+
+from urllib.request import urlopen, Request #
+
+from base64 import b64decode
+from datetime import datetime
+from matplotlib import patches
+from detecto import core, utils
+from torchvision import transforms
+from matplotlib import pyplot as plt
+from IPython.display import Image, display, Javascript
+distanceDetect = __import__('distance-detection-torch.distance-detection-torch', fromlist = ['distanceDetect']).distanceDetect
+print("torch.cuda.is_available() = ", torch.cuda.is_available())
+
+
+#change the IP address below according to the
+#IP shown in the Serial monitor of Arduino code
+# url='http://192.168.1.107/cam-lo.jpg'
+url='http://192.168.1.107/cam-hi.jpg'
+# url='http://192.168.1.107/cam-mid.jpg'
+
+
+#### Modify Detecto Core to include possibility of other base models
+def modifyCore():
+ cModLineNums = [221, 254]
+ cAddLineNums = [254, 256, 257, 258, 259]
+
+ # REPLACABLE LINE FOR DIFFERENT LOCAL COMPUTER DEVICES
+ coreFile = '/opt/anaconda3/envs/FORAY/lib/python3.8/site-packages/detecto/core.py'
+
+
+
+ cModLineVals = [" def __init__(self, classes=None, device=None, pretrained=True, modelname=\'fasterrcnn_resnet50_fpn\'):\n",
+ " self._model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=pretrained)\n"]
+ cAddLineVals = [" if modelname == \'fasterrcnn_resnet50_fpn\':\n",
+ " elif modelname == \'fasterrcnn_mobilenet_v3_large_fpn\':\n",
+ " self._model = torchvision.models.detection.fasterrcnn_mobilenet_v3_large_fpn(pretrained=pretrained)\n",
+ " elif modelname == \'fasterrcnn_mobilenet_v3_large_320_fpn\':\n",
+ " self._model = torchvision.models.detection.fasterrcnn_mobilenet_v3_large_320_fpn(pretrained=pretrained)\n",
+ " else:",
+ " return ValueError('Unknown Pretrained Model')"]
+ coreRead = open(coreFile, "r")
+ coreLines = coreRead.readlines()
+ if coreLines[253][-14:-1] != 'User-Modified':
+ for count, cModLineNum in enumerate(cModLineNums):
+ coreLines[cModLineNum] = cModLineVals[count]
+ for count, cAddLineNum in enumerate(cAddLineNums):
+ coreLines.insert(cAddLineNum, cAddLineVals[count])
+ coreRead.close()
+ coreWrite = open(coreFile, "w")
+ coreWrite.writelines(coreLines)
+ coreWrite.close()
+
+### Train the Model
+def modelName(type = 1):
+ if type == 1:
+ return 'fasterrcnn_resnet50_fpn'
+ elif type == 2:
+ return 'fasterrcnn_mobilenet_v3_large_fpn'
+ elif type == 3:
+ return 'fasterrcnn_mobilenet_v3_large_320_fpn'
+ else:
+ return ValueError('Unknown Pretrained Model')
+
+def modelTitle(modelLoc, device, type):
+ time = datetime.now().strftime("%Y%m%d_%H%M%S")
+ if device == 'cpu':
+ dev = 'cpu'
+ elif device[:4] == 'cuda':
+ dev = 'cuda'
+ return modelLoc + 'model_weights-' + str(type) + '-' + time + '-' + dev + '.pth'
+
+def returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile):
+ if modelAction == 'new':
+ dataset = core.Dataset(trainLoc)
+ model = core.Model(labelSet, device = device, modelname = modelName(modelType))
+ losses = model.fit(dataset, epochs = 10, verbose = True)
+ model.save(modelTitle(modelLoc, device, modelType))
+ elif modelAction == 'load':
+ model = core.Model(labelSet, modelname = modelname)
+ #model = core.Model(classes = labelSet, device = device, pretrained = True, model_name = modelName(modelType))
+ model._model.load_state_dict(torch.load(modelLoc + modelFile, map_location = torch.device(device)))
+ # model = torch.quantization.quantize_dynamic(model.get_internal_model(), dtype=torch.qint8)
+ return model
+
+### Object Detection
+def objectDetection(loc):
+ image = utils.read_image(loc)
+ predictions = model.predict(image)
+ tLabels, tBoxes, tScores = predictions
+ labels, boxes, scores = [[] for i in range(3)]
+ imHeight, imWidth, _ = image.shape
+ for count, box in enumerate(tBoxes):
+ x0, y0 = float(box[0]), float(box[1])
+ x1, y1 = float(box[2]), float(box[3])
+ w = x1 - x0
+ h = y1 - y0
+ center = (x0 + (w/2), y0 + (h/2))
+ dCrop = [int(y0*cropFactor + y1*(1-cropFactor)), int(y1*cropFactor + y0*(1-cropFactor)),
+ int(x0*cropFactor + x1*(1-cropFactor)), int(x1*cropFactor + x0*(1-cropFactor))]
+ # relativeDist, coordinates = depth_estimate((imHeight, imWidth), (x0, y0, w, h))
+ # relativeDist = float(relativeDist)
+ # coordinates = tuple([float(coord) for coord in coordinates])
+ distance = distanceDetect('load-testImg', distWtsFile, [[x0, x1, y0, y1], [imWidth, imHeight]])
+ avgClRGB = cv2.mean(image[dCrop[0]:dCrop[1], dCrop[2]:dCrop[3]])
+ avgClHue = rgbToHue(avgClRGB)
+ print('Detection Score : ', round(float(tScores[count])*100, 2), '%')
+ print('Average Color (RGB) : ', avgClRGB)
+ print('Average Color (Hue) : ', avgClHue)
+ print('Bounding Box Center : ', center)
+ print('Distance to Ball : ', distance)
+ # print('Relative Distance : ', relativeDist)
+ # print('Coordinates : ', coordinates)
+ print()
+ if tScores[count] > minScore and avgClHue > colorLow and avgClHue < colorHigh:
+ scores.append(float(tScores[count]))
+ labels.append(tLabels[count]+' '+str(round(float(tScores[count])*100, 2))+'%')
+ boxes.append ([x0, y0, x1, y1])
+ displayBoxedImage(image, boxes, labels)
+
+#### Live Detection
+def detectLive(model):
+ # cv2.namedWindow('Ball Detection')
+ # try:
+ # cap = cv2.VideoCapture(0)#, cv2.CAP_DSHOW)
+ # except:
+ # print('No webcam available.')
+ # return
+
+ ret = True
+ while ret:
+ # ret, frame = cap.read()
+ #print(ret)
+ #print(frame)
+
+ header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
+ req = Request(url, headers=header)
+ img_resp = urlopen(req, timeout=60)
+ imgnp=np.array(bytearray(img_resp.read()),dtype=np.uint8)
+ frame=cv2.imdecode(imgnp,-1)
+
+ labels, boxes, scores = model.predict(frame)
+ # labels, boxes, scores = [np.array([]) for i in range(3)]
+ for i in range(boxes.shape[0]):
+ box = boxes[i]
+ x0, y0 = float(box[0]), float(box[1])
+ x1, y1 = float(box[2]), float(box[3])
+ w = x1 - x0
+ h = y1 - y0
+ dCrop = [int(y0*cropFactor + y1*(1-cropFactor)), int(y1*cropFactor + y0*(1-cropFactor)),
+ int(x0*cropFactor + x1*(1-cropFactor)), int(x1*cropFactor + x0*(1-cropFactor))]
+ avgClRGB = cv2.mean(frame[dCrop[0]:dCrop[1], dCrop[2]:dCrop[3]])
+ avgClHue = rgbToHue(avgClRGB)
+ if scores[i] > minScore and avgClHue > colorLow and avgClHue < colorHigh:
+ cv2.rectangle(frame, (int(x0), int(y0)),
+ (int(x1), int(y1)),
+ (0, 255, 0), 2)
+ if labels:
+ distance = distanceDetect('load-testImg', distWtsFile, [[x0, x1, y0, y1], frame.shape[:2]])
+ cv2.putText(frame, '{}: {}% at {} cm'.format(labels[i], round(scores[i].item()*100.0, 1), round(distance, 2)),
+ (int(box[0]), int(box[1]) - 10),
+ cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 3)
+ cv2.imshow('Ball Detection', frame)
+ key = cv2.waitKey(1) & 0xFF
+ if key == ord('q') or key == 27:
+ break
+ cv2.destroyAllWindows()
+ # cap.release()
+
+### Supplementary Functions
+#### Display of Image with Bounding Boxes
+def displayBoxedImage(image, boxes = [], labels = None):
+ fig, ax = plt.subplots(1)
+ if isinstance(image, torch.Tensor):
+ image = utils.reverse_normalize(image)
+ image = transforms.ToPILImage()(image)
+ ax.imshow(image)
+ if labels is not None and not utils._is_iterable(labels):
+ labels = [labels]
+ for i in range(len(boxes)):
+ box = boxes[i]
+ width, height = box[2] - box[0], box[3] - box[1]
+ initial_pos = (box[0], box[1])
+ rect = patches.Rectangle(initial_pos, width, height, linewidth = 1, edgecolor = 'r', facecolor = 'none')
+ if labels:
+ ax.text(box[0] + 5, box[1] - 5, '{}'.format(labels[i]), color='red')
+ ax.add_patch(rect)
+ plt.show()
+
+#### Calculation of Hue from RGB (adopted from [code](https://www.geeksforgeeks.org/program-change-rgb-color-model-hsv-color-model/))
+def rgbToHue(RGB):
+ RGB = [val/255.0 for val in RGB]
+ cmax = max(RGB)
+ cmin = min(RGB)
+ diff = cmax - cmin
+ r, g, b = RGB[0:3]
+ if cmax == cmin:
+ return 0
+ if cmax == r:
+ return (60 * ((g - b) / diff) + 360) % 360
+ if cmax == g:
+ return (60 * ((b - r) / diff) + 120) % 360
+ if cmax == b:
+ return (60 * ((r - g) / diff) + 240) % 360
+
+#### Formula-based Depth Estimation (adopted from [mono_depth.py](https://github.com/agrawalparth10/FORAY-Perception/blob/master/mono_depth/mono_depth.py))
+def depth_estimate(figDims, boundingBox):
+ def x_hat(realLen, ip, i0, imageLen):
+ return (realLen * (ip-i0)) / imageLen
+ def y_hat(realLen, jp, j0, imageLen):
+ return (realLen * (jp-j0)) / imageLen
+ def z_hat(dist, pixelLen, imageLen):
+ return dist*(pixelLen/imageLen)
+ def cal_coordinates(dist, realLen, ip, jp, i0, j0, imageLen, pixelLen):
+ return (x_hat(realLen, ip, i0, imageLen), y_hat(realLen, jp, j0, imageLen), z_hat(dist, pixelLen, imageLen))
+ def measure(dist, realLen, ip, jp, i0, j0, imageLen, pixelLen):
+ x_cor = x_hat(realLen, ip, i0, imageLen)
+ z_cor = z_hat(dist, pixelLen, imageLen)
+ dist = (x_cor ** 2 + z_cor ** 2) ** 0.5
+ return dist
+ imHeight, imWidth = figDims
+ center = (imWidth // 2, imHeight // 2)
+ x, y, w, h = boundingBox[0:4]
+ relativeDist = measure (dist = 0.51, realLen = 0.228, ip = x, jp = y, i0 = center[0], j0 = center[1], imageLen = w, pixelLen = 500)
+ coordinates = cal_coordinates(dist = 0.51, realLen = 0.228, ip = x, jp = y, i0 = center[0], j0 = center[1], imageLen = w, pixelLen = 500)
+ return relativeDist, coordinates
+
+### Declare Varables and Constants
+device = 'cpu'
+imageLoc = './images/train-test-4/' #
+labelSet = ['ball']
+modelLoc = './model_weights/' #
+trainLoc = imageLoc + 'train/'
+minScore = 0.50
+colorLow = 60
+colorHigh = 180
+modelFile = 'model_weights-2-20210818_002355-cpu.pth'
+modelname = modelName(int(modelFile[14]))
+modelType = 2
+cropFactor = 0.90
+distWtsFile = './distance-detection-torch/distance-detection-weights-3-2.0sd-20210808_212550.json'
+modelAction = 'load' # 'load' to load previous model, 'new' to train new model (only possible on Colab)
+
+#FOR THE NEXT LINE : UNCOMMENT the first time you run, COMMENT OUT after the first time
+# modifyCore()
+#########
+
+model = returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
+## Testing (using Live Streaming)
+detectLive(model)
+
+## Testing (using Untrained Images)
+for file in sorted(glob.glob(imageLoc + '/test/*.jpg')):
+ objectDetection(file)
+
+## Evaluation (using Trained Images)
+for file in sorted(glob.glob(imageLoc + '/train/*.jpg')):
+ objectDetection(file)
diff --git a/Code/ESP32_Cam/CameraWebServer.ino b/Code/ESP32_Cam/CameraWebServer.ino
deleted file mode 100644
index 2d26ed4d14d4da54e663bc20f172d81285fc110c..0000000000000000000000000000000000000000
--- a/Code/ESP32_Cam/CameraWebServer.ino
+++ /dev/null
@@ -1,112 +0,0 @@
-#include "esp_camera.h"
-#include <WiFi.h>
-
-//
-// WARNING!!! PSRAM IC required for UXGA resolution and high JPEG quality
-// Ensure ESP32 Wrover Module or other board with PSRAM is selected
-// Partial images will be transmitted if image exceeds buffer size
-//
-
-// Select camera model
-// #define CAMERA_MODEL_WROVER_KIT // Has PSRAM
-// #define CAMERA_MODEL_ESP_EYE // Has PSRAM
-// #define CAMERA_MODEL_M5STACK_PSRAM // Has PSRAM
-// #define CAMERA_MODEL_M5STACK_V2_PSRAM // M5Camera version B Has PSRAM
-// #define CAMERA_MODEL_M5STACK_WIDE // Has PSRAM
-// #define CAMERA_MODEL_M5STACK_ESP32CAM // No PSRAM
-#define CAMERA_MODEL_AI_THINKER // Has PSRAM
-//#define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM
-
-#include "camera_pins.h"
-
-const char* ssid = "lemur";
-const char* password = "lemur9473";
-
-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 PSRAM IC present, init with UXGA resolution and higher JPEG quality
- // for larger pre-allocated frame buffer.
- 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
-
- // camera init
- 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();
- // initial sensors are flipped vertically and colors are a bit saturated
- if (s->id.PID == OV3660_PID) {
- s->set_vflip(s, 1); // flip it back
- s->set_brightness(s, 1); // up the brightness just a bit
- s->set_saturation(s, -2); // lower the saturation
- }
- // drop down frame size for higher initial frame rate
- s->set_framesize(s, FRAMESIZE_QVGA);
-
-#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! Use 'http://");
- Serial.print(WiFi.localIP());
- Serial.println("' to connect");
-}
-
-void loop() {
- // put your main code here, to run repeatedly:
- delay(10000);
-}
diff --git a/Code/ESP32_Cam/ESP32-CAM_openCV/.gitkeep b/Code/ESP32_Cam/ESP32-CAM_openCV/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ESP32_Cam/ESP32-CAM_openCV/ESP32-CAM_openCV.ino b/Code/ESP32_Cam/ESP32-CAM_openCV/ESP32-CAM_openCV.ino
new file mode 100644
index 0000000000000000000000000000000000000000..9aa9d22f4f29077f72e719c9ff5fa0597a507c11
--- /dev/null
+++ b/Code/ESP32_Cam/ESP32-CAM_openCV/ESP32-CAM_openCV.ino
@@ -0,0 +1,94 @@
+// https://how2electronics.com/color-detection-tracking-with-esp32-cam-opencv/
+
+#include <WebServer.h>
+#include <WiFi.h>
+#include <esp32cam.h>
+
+const char* WIFI_SSID = "lemur";
+const char* WIFI_PASS = "lemur9473";
+
+WebServer server(80);
+
+
+static auto loRes = esp32cam::Resolution::find(320, 240);
+static auto midRes = esp32cam::Resolution::find(350, 530);
+static auto hiRes = esp32cam::Resolution::find(800, 600);
+void serveJpg()
+{
+ auto frame = esp32cam::capture();
+ if (frame == nullptr) {
+ Serial.println("CAPTURE FAIL");
+ server.send(503, "", "");
+ return;
+ }
+ Serial.printf("CAPTURE OK %dx%d %db\n", frame->getWidth(), frame->getHeight(),
+ static_cast<int>(frame->size()));
+
+ server.setContentLength(frame->size());
+ server.send(200, "image/jpeg");
+ WiFiClient client = server.client();
+ frame->writeTo(client);
+}
+
+void handleJpgLo()
+{
+ if (!esp32cam::Camera.changeResolution(loRes)) {
+ Serial.println("SET-LO-RES FAIL");
+ }
+ serveJpg();
+}
+
+void handleJpgHi()
+{
+ if (!esp32cam::Camera.changeResolution(hiRes)) {
+ Serial.println("SET-HI-RES FAIL");
+ }
+ serveJpg();
+}
+
+void handleJpgMid()
+{
+ if (!esp32cam::Camera.changeResolution(midRes)) {
+ Serial.println("SET-MID-RES FAIL");
+ }
+ serveJpg();
+}
+
+
+void setup(){
+ Serial.begin(115200);
+ Serial.println();
+ {
+ using namespace esp32cam;
+ Config cfg;
+ cfg.setPins(pins::AiThinker);
+ cfg.setResolution(hiRes);
+ cfg.setBufferCount(2);
+ cfg.setJpeg(80);
+
+ bool ok = Camera.begin(cfg);
+ Serial.println(ok ? "CAMERA OK" : "CAMERA FAIL");
+ }
+ WiFi.persistent(false);
+ WiFi.mode(WIFI_STA);
+ WiFi.begin(WIFI_SSID, WIFI_PASS);
+ while (WiFi.status() != WL_CONNECTED) {
+ delay(500);
+ }
+ Serial.print("http://");
+ Serial.println(WiFi.localIP());
+ Serial.println(" /cam-lo.jpg");
+ Serial.println(" /cam-hi.jpg");
+ Serial.println(" /cam-mid.jpg");
+
+ server.on("/cam-lo.jpg", handleJpgLo);
+ server.on("/cam-hi.jpg", handleJpgHi);
+ server.on("/cam-mid.jpg", handleJpgMid);
+
+ server.begin();
+}
+
+void loop()
+{
+ server.handleClient();
+}
diff --git a/Code/ESP32_Cam/app_httpd.cpp b/Code/ESP32_Cam/app_httpd.cpp
deleted file mode 100644
index 5e33ec7c171ce5c9d16339f212ee2db090349617..0000000000000000000000000000000000000000
--- a/Code/ESP32_Cam/app_httpd.cpp
+++ /dev/null
@@ -1,662 +0,0 @@
-// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#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);
- }
-}
diff --git a/Code/ESP32_Cam/camera_index.h b/Code/ESP32_Cam/camera_index.h
deleted file mode 100644
index 0cf2245f2beb5136f837701911a3fa06ef7b947c..0000000000000000000000000000000000000000
--- a/Code/ESP32_Cam/camera_index.h
+++ /dev/null
@@ -1,557 +0,0 @@
-
-//File: index_ov2640.html.gz, Size: 4316
-#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,
- 0x38, 0xBF, 0x78, 0x7B, 0xDC, 0xD3, 0xDE, 0xBC, 0xEF, 0xF5, 0x4F, 0x3A, 0xC3, 0x23, 0xFE, 0x5B,
- 0x3A, 0x26, 0x24, 0x57, 0xF2, 0x77, 0xFA, 0x19, 0xFB, 0xD6, 0x95, 0xF6, 0x25, 0xF3, 0x13, 0xFD,
- 0xD8, 0x20, 0x44, 0xCB, 0x46, 0x33, 0xC7, 0xBD, 0x1A, 0x68, 0x8F, 0x03, 0x98, 0xF3, 0xF0, 0x05,
- 0x76, 0x17, 0x98, 0x38, 0x26, 0x3A, 0x0C, 0x91, 0x17, 0xB6, 0x42, 0x1C, 0x38, 0xF6, 0x4F, 0x2B,
- 0x84, 0x63, 0x64, 0x7E, 0x9E, 0x04, 0x7E, 0xE4, 0x59, 0x03, 0xED, 0x4E, 0xF7, 0x94, 0xFE, 0xAD,
- 0x0E, 0x32, 0x7D, 0xD7, 0x0F, 0xE0, 0xFC, 0xF9, 0x33, 0xFA, 0xB7, 0x7A, 0x9E, 0xCD, 0x1E, 0x3A,
- 0xFF, 0xE0, 0x81, 0xD6, 0x3D, 0x99, 0x5F, 0x66, 0xCE, 0x5F, 0xDF, 0xCA, 0x7C, 0x9D, 0xF6, 0x8A,
- 0xA4, 0x17, 0xF4, 0xA7, 0xE5, 0xF4, 0x21, 0x36, 0x89, 0xE3, 0x7B, 0xED, 0x19, 0x72, 0x3C, 0x05,
- 0x27, 0xCB, 0x09, 0xE7, 0x2E, 0x02, 0x1B, 0xD8, 0x2E, 0x2E, 0xE5, 0x73, 0x67, 0x86, 0xBD, 0xE8,
- 0xB0, 0x82, 0x1B, 0x65, 0xD2, 0xB2, 0x9C, 0x80, 0x8F, 0x1A, 0x50, 0x3B, 0x44, 0x33, 0xAF, 0x92,
- 0x6D, 0x99, 0x5C, 0x9E, 0xEF, 0x61, 0x85, 0x01, 0xE9, 0x44, 0xCB, 0x00, 0xCD, 0xE9, 0x00, 0xFA,
- 0xEF, 0xEA, 0x90, 0x99, 0xE3, 0x71, 0xA7, 0x1A, 0x68, 0xC7, 0xFD, 0xCE, 0xFC, 0xB2, 0x02, 0xCA,
- 0xE3, 0x13, 0xFA, 0xB7, 0x3A, 0x68, 0x8E, 0x2C, 0xCB, 0xF1, 0x26, 0x03, 0xED, 0x54, 0xC9, 0xC2,
- 0x0F, 0x2C, 0x1C, 0xB4, 0x02, 0x64, 0x39, 0x51, 0x38, 0xD0, 0xFA, 0xAA, 0x31, 0x33, 0x14, 0x4C,
- 0x40, 0x16, 0xE2, 0x83, 0xB0, 0xAD, 0xAE, 0x52, 0x12, 0x31, 0x24, 0x70, 0x26, 0x53, 0x02, 0x90,
- 0xAE, 0x8C, 0xC9, 0x1B, 0x4D, 0x84, 0x50, 0x15, 0x9E, 0xA5, 0x76, 0x53, 0x5B, 0x0D, 0xB9, 0xCE,
- 0xC4, 0x6B, 0x39, 0x04, 0xCF, 0x40, 0x9D, 0x90, 0x04, 0x98, 0x98, 0xD3, 0x32, 0x51, 0x6C, 0x67,
- 0x12, 0x05, 0x58, 0x21, 0x48, 0x62, 0xB7, 0x12, 0x85, 0xE1, 0xE4, 0xEA, 0xA9, 0xD6, 0x12, 0x8F,
- 0x3F, 0x3B, 0xA4, 0x25, 0x6C, 0x32, 0xC6, 0xB6, 0x1F, 0x60, 0xE5, 0xC8, 0x78, 0x84, 0xEB, 0x9B,
- 0x9F, 0x5B, 0x21, 0x41, 0x01, 0xA9, 0xC3, 0x10, 0xD9, 0x04, 0x07, 0xD5, 0xFC, 0x30, 0xF5, 0x8A,
- 0x6A, 0x6E, 0xC5, 0xD3, 0x8A, 0x01, 0x8E, 0xE7, 0x3A, 0x1E, 0xAE, 0x2F, 0x5E, 0xD1, 0xBC, 0x59,
- 0x76, 0x7C, 0x54, 0x0D, 0x60, 0x9C, 0xD9, 0xA4, 0xCC, 0x4B, 0x98, 0xAE, 0xAB, 0x93, 0x89, 0xB8,
- 0xE9, 0x76, 0x3A, 0x3F, 0xAC, 0x9E, 0x9C, 0x62, 0xEE, 0xA6, 0x28, 0x22, 0xFE, 0xF6, 0x11, 0xB1,
- 0x12, 0x56, 0x39, 0x3D, 0xFE, 0x35, 0xC3, 0x96, 0x83, 0xB4, 0x86, 0x14, 0xCE, 0xA7, 0x1D, 0xF0,
- 0xA9, 0xA6, 0x86, 0x3C, 0x4B, 0x6B, 0xF8, 0x81, 0x03, 0x81, 0x80, 0x58, 0xBA, 0x71, 0xE1, 0x17,
- 0x28, 0x1C, 0x73, 0xDC, 0x54, 0xA8, 0x5C, 0x12, 0x33, 0xB2, 0x45, 0xD4, 0x61, 0x43, 0x3F, 0x35,
- 0x52, 0x0E, 0xFD, 0x54, 0x06, 0x90, 0x42, 0x47, 0xC6, 0xBE, 0x0C, 0x2F, 0x59, 0xC2, 0x22, 0xCC,
- 0xE8, 0x67, 0x86, 0x2E, 0x5B, 0xA5, 0xD8, 0xC5, 0x83, 0x62, 0x0C, 0xA1, 0xCC, 0x9A, 0x0D, 0x18,
- 0xBA, 0x98, 0x6A, 0x2D, 0x8D, 0x66, 0xC9, 0xA6, 0x9A, 0x46, 0x30, 0x55, 0x43, 0x4E, 0x3F, 0xB2,
- 0x53, 0xAC, 0xA1, 0xAE, 0x5A, 0xD5, 0x34, 0x77, 0xF0, 0x3F, 0x95, 0x0F, 0x71, 0x4D, 0x0A, 0xB3,
- 0x08, 0xFD, 0xD4, 0xCF, 0x24, 0x29, 0xB3, 0xCA, 0x6C, 0xA2, 0x60, 0x5C, 0x9C, 0x51, 0x56, 0xF8,
- 0x16, 0x45, 0xB7, 0x82, 0x6B, 0xB9, 0x08, 0x75, 0xB3, 0x8B, 0x82, 0x71, 0x99, 0x0C, 0x95, 0x59,
- 0x86, 0x7E, 0xAE, 0x6B, 0xF4, 0x1B, 0x77, 0xC6, 0x11, 0x21, 0xBE, 0x17, 0x6E, 0x55, 0xA2, 0x8A,
- 0xE2, 0xEC, 0xAF, 0x28, 0x24, 0x8E, 0x7D, 0xD5, 0x12, 0x21, 0x0D, 0x71, 0x36, 0x47, 0xD0, 0x42,
- 0x8E, 0x31, 0x59, 0x62, 0x5C, 0xDE, 0x6E, 0x78, 0x68, 0x01, 0x79, 0x67, 0x32, 0x71, 0x55, 0xBE,
- 0x67, 0x46, 0x41, 0x48, 0xFB, 0xB6, 0xB9, 0xEF, 0x00, 0xE3, 0x60, 0x75, 0xE2, 0x6C, 0x0C, 0xD6,
- 0x9C, 0xA8, 0x65, 0x8E, 0x15, 0x73, 0xF9, 0x11, 0xA1, 0x36, 0x56, 0x22, 0xE1, 0x83, 0x3A, 0x0E,
- 0xB9, 0x52, 0x9E, 0x13, 0x91, 0xA8, 0x38, 0x13, 0x87, 0x60, 0x69, 0x59, 0xC8, 0xCA, 0x35, 0x30,
- 0xA7, 0xD8, 0xFC, 0x8C, 0xAD, 0x1F, 0x2B, 0xDB, 0xB0, 0xAA, 0xF6, 0xB0, 0xED, 0x78, 0xF3, 0x88,
- 0xB4, 0x68, 0x3B, 0x35, 0xBF, 0x11, 0xCC, 0x99, 0x43, 0xC6, 0x2A, 0xF6, 0x7A, 0x65, 0x4D, 0xC5,
- 0xFD, 0xF9, 0x65, 0xB9, 0x11, 0x64, 0x61, 0x0D, 0x17, 0x8D, 0xB1, 0x5B, 0x26, 0xB2, 0x08, 0x86,
- 0x82, 0xB4, 0x2B, 0x72, 0x55, 0x71, 0xEF, 0xC6, 0x24, 0x4B, 0x8B, 0x57, 0xFF, 0xC1, 0x0F, 0xB5,
- 0xED, 0xC8, 0x8E, 0x0F, 0x33, 0x3F, 0x85, 0xD8, 0x85, 0x00, 0x2B, 0x6A, 0xBD, 0x61, 0xCC, 0x12,
- 0x64, 0x28, 0x9D, 0x20, 0x40, 0xDE, 0x04, 0x43, 0x2E, 0xB8, 0x3C, 0x8C, 0x0F, 0xCB, 0x17, 0x06,
- 0xB5, 0xD4, 0xA7, 0xA9, 0xFA, 0x7E, 0xF9, 0x42, 0x84, 0x27, 0x84, 0x0D, 0x9A, 0x11, 0x09, 0xD6,
- 0xD2, 0xF9, 0xBB, 0x4A, 0xA7, 0xE0, 0xFD, 0x88, 0x32, 0x60, 0xB2, 0x2E, 0xA5, 0xEC, 0xEF, 0x2B,
- 0x33, 0x42, 0xBC, 0xD2, 0xB3, 0xED, 0xAA, 0xB5, 0xA2, 0x6D, 0x1F, 0x77, 0x8E, 0xFB, 0x95, 0x0D,
- 0x93, 0x52, 0xCB, 0xDC, 0x7A, 0x51, 0x91, 0x31, 0x92, 0x6C, 0x52, 0x0D, 0xC1, 0x60, 0xEA, 0x2F,
- 0x70, 0xA0, 0x00, 0x22, 0x27, 0x6E, 0xFF, 0x61, 0xDF, 0xAA, 0xC1, 0x0D, 0x41, 0xBE, 0x5F, 0xA8,
- 0xB2, 0x69, 0x96, 0x5D, 0xAF, 0x6B, 0xF6, 0x4A, 0x1D, 0x93, 0xB3, 0x6B, 0x83, 0x37, 0xA0, 0xB1,
- 0x8B, 0xAD, 0x92, 0xF4, 0x6C, 0x61, 0x1B, 0x45, 0x2E, 0xA9, 0xB0, 0x37, 0xEA, 0xD0, 0xBF, 0xB2,
- 0x19, 0x59, 0x5C, 0xFD, 0x41, 0x37, 0x3A, 0x46, 0x2C, 0x12, 0xFE, 0x54, 0xCC, 0x19, 0xD7, 0x4E,
- 0x34, 0x9F, 0x63, 0x04, 0xA3, 0x4C, 0x5C, 0xB4, 0x24, 0xAD, 0xD5, 0x33, 0xAB, 0x13, 0x57, 0xAD,
- 0x85, 0x68, 0xA5, 0x2B, 0x26, 0xDD, 0xD0, 0x5A, 0x3A, 0x0F, 0x6C, 0xDF, 0x8C, 0x54, 0x65, 0xBA,
- 0x9E, 0x4B, 0xAD, 0xF2, 0x1B, 0xC4, 0x26, 0x0B, 0x5D, 0x87, 0x39, 0x76, 0xE4, 0x79, 0x14, 0xD1,
- 0x16, 0x09, 0x40, 0x4D, 0xC5, 0x44, 0xF5, 0x0C, 0xB7, 0x51, 0x74, 0x66, 0x0C, 0x5B, 0xB4, 0x19,
- 0x93, 0x0B, 0x40, 0x45, 0xA2, 0x48, 0x72, 0x88, 0x16, 0xFA, 0xA0, 0x54, 0xCC, 0x6A, 0x3B, 0xBB,
- 0x90, 0x69, 0x34, 0x53, 0x35, 0x06, 0xF1, 0x64, 0x5D, 0xA8, 0x62, 0x7C, 0xBA, 0x60, 0x32, 0x46,
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- 0xF3, 0x72, 0xC9, 0xA7, 0x7A, 0x9F, 0xA4, 0x28, 0x8D, 0x55, 0x62, 0x51, 0x3F, 0x92, 0xB2, 0x1B,
- 0x26, 0xDD, 0x76, 0x45, 0x61, 0x29, 0x70, 0xE9, 0xF5, 0x1D, 0x51, 0xE1, 0x2D, 0xEB, 0x42, 0x3C,
- 0xF3, 0xFF, 0x69, 0xF1, 0xAA, 0xFA, 0x7F, 0xEF, 0xED, 0x92, 0x29, 0xBE, 0x6B, 0x4F, 0x5F, 0xDB,
- 0x2E, 0xE1, 0xBE, 0x7D, 0xA3, 0x53, 0x8C, 0x7A, 0x4B, 0xF4, 0x33, 0x20, 0xA1, 0x07, 0x8B, 0xAA,
- 0x00, 0x56, 0x57, 0x85, 0x3D, 0x8F, 0x34, 0x66, 0x03, 0x1B, 0xD8, 0x8E, 0xEB, 0xB6, 0x5C, 0x7F,
- 0x59, 0xDD, 0x89, 0x94, 0x7B, 0xF2, 0x8A, 0x9F, 0x56, 0xBB, 0xFC, 0xA6, 0xD2, 0x46, 0x90, 0xB9,
- 0xFE, 0x27, 0xA4, 0xFD, 0xBE, 0x03, 0xAE, 0x34, 0x34, 0x36, 0x2B, 0x14, 0x1B, 0xF8, 0xE3, 0x76,
- 0x13, 0xD5, 0x72, 0x25, 0xDE, 0x09, 0x96, 0x2E, 0xE6, 0xC2, 0xA5, 0x43, 0xCC, 0xE9, 0x06, 0x8B,
- 0xAA, 0xB9, 0x1F, 0x3A, 0xFC, 0x1A, 0x4D, 0x80, 0x5D, 0x44, 0x3B, 0xF8, 0x8D, 0x96, 0xDC, 0x95,
- 0x0B, 0x13, 0x99, 0xBC, 0x8E, 0x26, 0xCC, 0x74, 0xDF, 0xCE, 0x76, 0x49, 0x9B, 0xF7, 0x0E, 0xC5,
- 0xB9, 0x5A, 0xED, 0xD6, 0x15, 0xED, 0x7E, 0x36, 0x32, 0xD4, 0x83, 0xD6, 0xC8, 0xE8, 0x71, 0xD2,
- 0x9E, 0x04, 0xF8, 0xAA, 0x86, 0x32, 0x87, 0xE2, 0xDF, 0x01, 0xDF, 0x10, 0xDD, 0x7C, 0xED, 0xCF,
- 0x0A, 0x80, 0xF0, 0xA2, 0x76, 0x3F, 0xAC, 0x31, 0x75, 0xF1, 0x94, 0x75, 0xFC, 0x31, 0xD9, 0xEE,
- 0xD3, 0xF5, 0x1A, 0xE9, 0xA6, 0xA4, 0x84, 0xAA, 0x5D, 0x35, 0xAE, 0xBE, 0xCA, 0x93, 0x2E, 0xB6,
- 0x49, 0xC1, 0xD5, 0x0C, 0xD6, 0xA7, 0x1E, 0x97, 0x67, 0xB7, 0x96, 0xB4, 0x4F, 0x50, 0x99, 0x39,
- 0x92, 0x5D, 0xB9, 0x62, 0xEF, 0x53, 0x72, 0xA6, 0xD9, 0x73, 0x6D, 0xE6, 0xC5, 0x90, 0xC4, 0xED,
- 0x33, 0x83, 0x19, 0xC6, 0xCC, 0x44, 0xC9, 0x07, 0x78, 0xF0, 0xEF, 0x8D, 0xDE, 0x89, 0xF2, 0x62,
- 0x41, 0xC9, 0xE0, 0x32, 0xD1, 0x0A, 0xB7, 0xB5, 0x56, 0x4B, 0x56, 0xE1, 0x02, 0x59, 0xCE, 0x45,
- 0x4A, 0xA0, 0xCA, 0xA3, 0xB2, 0x2C, 0xC3, 0xAC, 0xEE, 0xD1, 0x94, 0x3A, 0xBB, 0x33, 0x43, 0xD0,
- 0xF6, 0x52, 0x77, 0x45, 0xC0, 0x51, 0x85, 0x5F, 0x1D, 0x77, 0x97, 0x36, 0x0D, 0xBB, 0x27, 0x9D,
- 0x8A, 0x29, 0x4D, 0xD7, 0x0F, 0xCB, 0xE3, 0x0A, 0x8D, 0xC1, 0x7E, 0x11, 0x51, 0x4C, 0x24, 0xB6,
- 0x2E, 0x95, 0x3B, 0x4F, 0xCC, 0xB9, 0x95, 0x67, 0x6A, 0x95, 0xEE, 0xD2, 0x98, 0x2A, 0x0F, 0xC7,
- 0x9C, 0xCD, 0xBB, 0x1D, 0x65, 0xA6, 0x2D, 0xDD, 0x7F, 0x23, 0xF8, 0x12, 0xD6, 0x9B, 0xF4, 0x82,
- 0xDC, 0x40, 0x33, 0xB1, 0x3A, 0x8D, 0x66, 0x8A, 0x5C, 0xB7, 0xCE, 0x26, 0x60, 0x29, 0x0E, 0x53,
- 0xC7, 0xB2, 0x70, 0xE9, 0x2E, 0x27, 0x5D, 0xF3, 0xE6, 0x58, 0xC4, 0x47, 0xC3, 0x23, 0xE9, 0x06,
- 0x96, 0xE1, 0x51, 0x7A, 0xAF, 0xCD, 0x90, 0xDE, 0xC5, 0x22, 0xDF, 0xE7, 0xC2, 0x2F, 0xB2, 0x68,
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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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- 0x1B, 0x18, 0x17, 0x9E, 0x2F, 0xDF, 0xFD, 0xB4, 0x17, 0xD4, 0xF8, 0xCC, 0x87, 0x81, 0x4C, 0x28,
- 0x7D, 0x68, 0xBC, 0x66, 0x73, 0xE2, 0xFB, 0x9E, 0xBF, 0x31, 0x64, 0x92, 0x0E, 0x96, 0x15, 0xF5,
- 0x57, 0xFC, 0x68, 0x2F, 0x70, 0x45, 0xB3, 0x1E, 0x06, 0xB1, 0x58, 0xE7, 0x43, 0x83, 0xB6, 0x9C,
- 0x38, 0x64, 0xB1, 0x31, 0x64, 0x9C, 0xCA, 0x1C, 0xBD, 0xAB, 0x3F, 0x87, 0x7F, 0xF7, 0x02, 0x97,
- 0x98, 0xF1, 0x30, 0x60, 0x49, 0x6D, 0x0F, 0x0D, 0xD5, 0x78, 0xB1, 0x79, 0x3A, 0x04, 0x1A, 0x73,
- 0xF4, 0xF4, 0xA7, 0xFD, 0xF4, 0x7E, 0x6C, 0xB2, 0x8A, 0x08, 0xED, 0x84, 0x07, 0x57, 0xEA, 0xD0,
- 0x68, 0xAC, 0xB6, 0x40, 0x63, 0xC5, 0x04, 0xFF, 0x6D, 0x4F, 0x68, 0xAC, 0xAA, 0xA3, 0xF1, 0x99,
- 0xE3, 0x65, 0xF5, 0x25, 0xE0, 0xC3, 0x9F, 0xC5, 0x18, 0xA3, 0xCD, 0xCB, 0x51, 0x44, 0xC8, 0x6E,
- 0x1A, 0x83, 0x23, 0xE3, 0x29, 0xDA, 0x4F, 0x41, 0x8A, 0xE7, 0xDD, 0x47, 0x08, 0x25, 0x4A, 0x1E,
- 0x1A, 0xA7, 0x09, 0xB2, 0xF0, 0x7B, 0x1B, 0xD3, 0x6D, 0xAE, 0x2D, 0x2B, 0xB4, 0xE6, 0xE8, 0x39,
- 0x7C, 0x31, 0x9E, 0xF1, 0x2F, 0xFB, 0x6A, 0xF9, 0xD4, 0xF9, 0xF7, 0x81, 0x5A, 0x4A, 0xDF, 0x2F,
- 0x02, 0x38, 0x68, 0xB0, 0xBD, 0xA9, 0xBB, 0xD5, 0x23, 0x0D, 0x29, 0x72, 0x09, 0xDF, 0x1B, 0xF1,
- 0x7D, 0xBF, 0x00, 0x26, 0x42, 0xEC, 0x0D, 0x43, 0x45, 0xEF, 0x7D, 0xC0, 0x18, 0x3D, 0x16, 0xC4,
- 0x8B, 0xB4, 0x78, 0x15, 0x5E, 0x19, 0x52, 0xF2, 0xE1, 0x27, 0x7E, 0x4B, 0x0B, 0xA6, 0xF5, 0x80,
- 0x12, 0xC7, 0x81, 0x85, 0x30, 0xA6, 0xC6, 0x5B, 0x76, 0x38, 0x38, 0x15, 0x03, 0xAA, 0x73, 0x91,
- 0xCF, 0xDC, 0xB0, 0x97, 0x50, 0xA2, 0xB9, 0x39, 0x7A, 0xCB, 0x5E, 0x12, 0x08, 0xBC, 0xD8, 0xB7,
- 0xCD, 0x99, 0x71, 0x23, 0x62, 0xD7, 0xF7, 0x40, 0xA8, 0x18, 0x24, 0xF9, 0xAE, 0x26, 0xD3, 0x88,
- 0x8E, 0x94, 0xDF, 0x46, 0x97, 0x7C, 0xB0, 0xC1, 0xBC, 0xAC, 0x7C, 0x3A, 0x76, 0xD5, 0xC2, 0xCA,
- 0xBF, 0xB8, 0x31, 0x38, 0x75, 0x91, 0xC6, 0xDC, 0x39, 0x28, 0x0C, 0xC4, 0xDB, 0x25, 0x73, 0x58,
- 0xC5, 0xCF, 0x33, 0x71, 0x4B, 0x24, 0x8F, 0x69, 0xC6, 0x6A, 0x65, 0x1F, 0xDF, 0x94, 0xDB, 0x4C,
- 0xD5, 0x82, 0x96, 0x3F, 0x88, 0x29, 0xEB, 0x21, 0x3B, 0x8C, 0xCD, 0xFF, 0x9F, 0x7F, 0x97, 0xF9,
- 0x0C, 0x7B, 0xF7, 0x67, 0x22, 0x98, 0x69, 0x04, 0xBE, 0x35, 0x34, 0xF3, 0x9E, 0x8E, 0xCA, 0xD1,
- 0xFC, 0x54, 0xA7, 0x7A, 0x66, 0xB0, 0xC6, 0xD6, 0x83, 0xC0, 0xF2, 0xC9, 0x82, 0x8E, 0xEE, 0xD8,
- 0x9E, 0x15, 0xCE, 0xB1, 0x4B, 0x1B, 0xC8, 0xB6, 0x2F, 0x97, 0x70, 0xF0, 0x92, 0x04, 0x14, 0x83,
- 0x15, 0x6A, 0x47, 0xCF, 0x7E, 0x7C, 0x75, 0x21, 0x9E, 0x12, 0x7B, 0xE9, 0x21, 0x1B, 0xDB, 0x47,
- 0x27, 0xC6, 0x24, 0x74, 0x85, 0x9B, 0xD7, 0x30, 0x1B, 0x2B, 0xDE, 0xBB, 0xBA, 0x44, 0xBE, 0x31,
- 0x46, 0x01, 0x7E, 0xE1, 0x05, 0xD4, 0x18, 0x1A, 0x31, 0x47, 0xC7, 0xB3, 0xF8, 0x7D, 0xBF, 0x0D,
- 0xCF, 0x27, 0x53, 0xE2, 0xCA, 0x91, 0x42, 0xD9, 0x5F, 0x7D, 0x07, 0x86, 0xC6, 0x54, 0xDF, 0x1A,
- 0x47, 0xFD, 0xF3, 0xD6, 0x11, 0x7B, 0x1C, 0x0F, 0x60, 0x80, 0x1F, 0x00, 0x02, 0x0C, 0x03, 0x20,
- 0xC0, 0x87, 0x23, 0xF9, 0x78, 0x20, 0x76, 0x1A, 0xDC, 0xE4, 0x4C, 0x40, 0x26, 0x6D, 0xED, 0x48,
- 0xE0, 0x74, 0xC4, 0x1E, 0x34, 0xBE, 0x89, 0x29, 0x83, 0x99, 0xB7, 0x2A, 0xA2, 0xF4, 0xF1, 0xDC,
- 0x5B, 0xE2, 0x0C, 0x71, 0x4C, 0x2D, 0xBD, 0xB9, 0x74, 0xEA, 0xC8, 0xEB, 0x8F, 0x8E, 0xA3, 0x01,
- 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
-};
diff --git a/Code/ESP32_Cam/camera_pins.h b/Code/ESP32_Cam/camera_pins.h
deleted file mode 100644
index f6ffd33b8d2f69adc90e95e3df322931c47e1081..0000000000000000000000000000000000000000
--- a/Code/ESP32_Cam/camera_pins.h
+++ /dev/null
@@ -1,156 +0,0 @@
-
-#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
diff --git a/Code/OpenMV Code/goalfinder.py b/Code/OpenMV Code/goalfinder.py
new file mode 100644
index 0000000000000000000000000000000000000000..3c1917c918b84631c245a43316c9f168e70f0f37
--- /dev/null
+++ b/Code/OpenMV Code/goalfinder.py
@@ -0,0 +1,85 @@
+# AprilTags Example
+#
+# This example shows the power of the OpenMV Cam to detect April Tags
+# on the OpenMV Cam M7. The M4 versions cannot detect April Tags.
+
+import sensor, image, time, math
+
+sensor.reset()
+sensor.set_pixformat(sensor.RGB565)
+sensor.set_framesize(sensor.QVGA) # we run out of memory if the resolution is much bigger...
+sensor.skip_frames(time = 2000)
+sensor.set_auto_gain(False) # must turn this off to prevent image washout...
+sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
+clock = time.clock()
+XRES = 320
+YRES = 240
+
+# Note! Unlike find_qrcodes the find_apriltags method does not need lens correction on the image to work.
+
+# What's the difference between tag families? Well, for example, the TAG16H5 family is effectively
+# a 4x4 square tag. So, this means it can be seen at a longer distance than a TAG36H11 tag which
+# is a 6x6 square tag. However, the lower H value (H5 versus H11) means that the false positve
+# rate for the 4x4 tag is much, much, much, higher than the 6x6 tag. So, unless you have a
+# reason to use the other tags families just use TAG36H11 which is the default family.
+
+# The AprilTags library outputs the pose information for tags. This is the x/y/z translation and
+# x/y/z rotation. The x/y/z rotation is in radians and can be converted to degrees. As for
+# translation the units are dimensionless and you must apply a conversion function.
+
+# f_x is the x focal length of the camera. It should be equal to the lens focal length in mm
+# divided by the x sensor size in mm times the number of pixels in the image.
+# The below values are for the OV7725 camera with a 2.8 mm lens.
+
+# f_y is the y focal length of the camera. It should be equal to the lens focal length in mm
+# divided by the y sensor size in mm times the number of pixels in the image.
+# The below values are for the OV7725 camera with a 2.8 mm lens.
+
+# c_x is the image x center position in pixels.
+# c_y is the image y center position in pixels.
+
+f_x = (2.8 / 3.673) * XRES # find_apriltags defaults to this if not set 3.984
+f_y = (2.8 / 2.738) * YRES # find_apriltags defaults to this if not set
+c_x = XRES * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5)
+c_y = YRES * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5)
+
+def degrees(radians):
+ return (180 * radians) / math.pi
+
+#val = value from apriltag reading
+#size = apriltag square length in cm
+def ATDistance(val,size):
+ new_val = -10*val*size/16.3
+ return new_val
+
+SIZE = 3.5
+goal_id = [0, 1, 2]
+
+while(True):
+ nearest_tag = [0,0,0,float('inf'),0,0,0]
+ clock.tick()
+ img = sensor.snapshot()
+ for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # defaults to TAG36H11
+ img.draw_rectangle(tag.rect(), color = (255, 0, 0))
+ img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
+ print_args = (tag.x_translation(), tag.y_translation(), tag.z_translation(), \
+ degrees(tag.x_rotation()), degrees(tag.y_rotation()), degrees(tag.z_rotation()))
+ # Translation units are unknown. Rotation units are in degrees.
+ #print("Tx: %f, Ty %f, Tz %f, Rx %f, Ry %f, Rz %f" % print_args)
+ #print("distance: ", ATDistance(tag.z_translation(),SIZE), " cm. ID: ",tag.id() )
+ for i in goal_id:
+ if tag.id() == i and ATDistance(tag.z_translation(),SIZE) < nearest_tag[3]:
+ nearest_tag[0] = tag.id()
+ nearest_tag[1] = tag.x_translation()
+ nearest_tag[2] = tag.y_translation()
+ nearest_tag[3] = ATDistance(tag.z_translation(),SIZE)
+ nearest_tag[4] = tag.x_rotation()
+ nearest_tag[5] = tag.y_rotation()
+ nearest_tag[6] = tag.z_rotation()
+ #check to see if there's a tag in frame
+ if nearest_tag[3] == float('inf'):
+ print("no tags in sight!")
+ else:
+ print("nearest tag id is ", nearest_tag[0], " with the distance", nearest_tag[3], " cm.")
+
+ #print(clock.fps())
diff --git a/Code/webcam/acquire_cam.py b/Code/webcam/acquire_cam.py
new file mode 100644
index 0000000000000000000000000000000000000000..9b001c8cec0121dade5bc34d0c75ec2cc43f7115
--- /dev/null
+++ b/Code/webcam/acquire_cam.py
@@ -0,0 +1,46 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Sun Oct 10 22:59:21 2021
+
+@author: Zhaoliang
+"""
+
+import cv2
+
+def get_camera_quantity():
+ """Acquire the available camera number"""
+ quantity = 0
+ cap = cv2.VideoCapture() # video streaming
+ index = 0
+ # normally, your laptop won't connect more than 5 camera
+ while index < 5:
+ ret = cap.open(index)
+ if ret:
+ quantity += 1 # available camera number + 1
+ cap.release() # release the camera
+ index += 1 # index+1
+ else:
+ break # once fail to open, there is no more camera
+ return quantity
+
+
+# run the following 2 lines of code first to make sure your connected camera
+# is really available
+
+"""
+q = get_camera_quantity()
+print(q)
+"""
+
+cap = cv2.VideoCapture(2)
+
+while True:
+ ret,frame = cap.read()
+ if not ret:
+ continue
+ k = cv2.waitKey(10)
+ if k== ord('q'):
+ break
+ cv2.imshow("image",frame)
+cap.release()
+cv2.destroyAllWindows()
diff --git a/imageTread.py b/imageTread.py
new file mode 100644
index 0000000000000000000000000000000000000000..a93b4445a73c295d82eabc3e7e323ba1e5aa8ecb
--- /dev/null
+++ b/imageTread.py
@@ -0,0 +1,33 @@
+import cv2
+from urllib.request import urlopen, Request
+import numpy as np
+
+def nothing(x):
+ pass
+
+
+
+#change the IP address below according to the
+#IP shown in the Serial monitor of Arduino code
+url='http://192.168.1.107/cam-lo.jpg'
+# url='http://192.168.1.107/cam-hi.jpg'
+# url='http://192.168.1.107/cam-mid.jpg'
+
+
+cv2.namedWindow("live transmission", cv2.WINDOW_AUTOSIZE)
+
+
+while True:
+ header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
+ req = Request(url, headers=header)
+ img_resp = urlopen(req, timeout=60)
+ imgnp=np.array(bytearray(img_resp.read()),dtype=np.uint8)
+ frame=cv2.imdecode(imgnp,-1)
+
+
+ cv2.imshow("live transmission", frame)
+ key=cv2.waitKey(5)
+ if key==ord('q'):
+ break
+
+cv2.destroyAllWindows()