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지금까지 만들어놓은 프로토타입V1(이후 V1모델)의 아두이노 코드를 공유합니다.
이 코드로 Object classification를 학습하고 결과를 실행할 수 있습니다.
Object tracking과 Object detection 모두 구현할 수 있는 상태지만,
GUI 구성이 시간을 많이 잡아먹어서 업그레이드가 지연되고 있습니다...
코드관련 궁금하신 부분은 댓글을 남겨주세요.
감사합니다.
#include <HardwareSerial.h>
#include <WebSocketsServer.h>
#include <WiFi.h>
#include "esp_camera.h"
#include "esp_timer.h"
#include "img_converters.h"
#include "Arduino.h"
#include "fb_gfx.h"
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h"
#include "esp_http_server.h"
#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
const char* ssid = "YOUR SSED";
const char* password = "YOUR PASSWORD";
//Custom serial setting
HardwareSerial mySerial(2);
//Websocket setting
WebSocketsServer webSocket = WebSocketsServer(81);
void onWebSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {
if(type == WStype_TEXT){
String cmd = (char*)payload;
Serial.println(cmd);
mySerial.println(cmd);
}
}
#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";
httpd_handle_t stream_httpd = NULL;
static const char PROGMEM INDEX_HTML[] = R"rawliteral(
<!DOCTYPE html>
<html>
<head>
<title>MANDLOH</title>
</head>
<style>
body {
background-color: rgb(150, 150, 150);
-webkit-user-select: none;
color: white;
font-size: 20px;
}
button {
width: 185px;
height: 105px;
margin: 2px 1px 2px 1px;
font-size: 35px;
color: white;
background-color: rgb(51, 51, 51);
border: none;
border-radius: 5px;
box-shadow: 0 9px rgba(104, 104, 104, 0.5);
}
button:active {
box-shadow: 0 5px rgba(104, 104, 104, 0.5);
transform: translateY(8px);
}
</style>
<script src="https://cdn.jsdelivr.net/npm/nipplejs@0.8.7/dist/nipplejs.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/@tensorflow/tfjs"></script>
<script src="https://cdn.jsdelivr.net/npm/@tensorflow-models/mobilenet"></script>
<script src="https://cdn.jsdelivr.net/npm/@tensorflow-models/knn-classifier"></script>
<body>
<div style="position:relative">
<img id="img_stream" style="position:absolute;left:12px;"></img>
<canvas id="canvas" style="position:absolute;left:12px;"></canvas>
</div>
</div>
<div id="joystick_zone"
style="position:absolute; top:490px; left:20px; border:1px dashed #BDBDBD; width:240px; height:240px;"></div>
<div style="position:absolute; top:740px; left:20px; border:1px dashed #BDBDBD; width:240px; height:80px;">
<button id="btnL" class="action"
style="position:relative; left:5px; width: 106px; height:73px; font-size: 40px;">L</button>
<button id="btnR" class="action"
style="position:relative; left:10px; width: 106px; height:73px; font-size: 40px;">R</button>
</div>
<div style="position:absolute; top:490px; left:270px; border:1px dashed #BDBDBD; width:388px; height:330px;">
<button id="btnA" class="action" style="position:relative; left:3px;">A</button>
<button id="btnB" class="action" style="position:relative;">B</button>
<button id="btnC" class="action" style="position:relative; left:3px;">C</button>
<button id="btnD" class="action" style="position:relative;">D</button>
<button id="btnE" class="action" style="position:relative; left:3px;">E</button>
<button id="btnF" class="action" style="position:relative;">F</button>
</div>
<div style="position:absolute; left:662px; border:1px dashed #BDBDBD; width:190px; height:812px;">
<button onclick="save_model()" style="position:relative;">SAVE</button>
<button onclick="load_model()" style="position:relative;">LOAD</button>
<button id="exec" style="position:relative;">EXECUTE</button>
<button id="change" style="position:relative;">LABEL<br>SETTING</button>
<button class="label" style="position:relative; height:88px;">ID1</button>
<button class="label" style="position:relative; height:88px;">ID2</button>
<button class="label" style="position:relative; height:88px;">ID3</button>
<button class="label" style="position:relative; height:88px;">ID4</button>
</div>
</body>
<script>
const stream_url = "http://192.168.0.12/stream";
//접속환경 구분(PC/MOBILE)
const filter = "win16|win32|win64|mac|macintel";
const platform = (filter.indexOf(navigator.platform.toLowerCase()) > 0) ? "PC" : "MOBILE";
console.log(`Client platform : ${platform}`);
//버튼 이벤트. class="action" 버튼만 할당한다.
const evt_btns = (e) => {
const id = e.srcElement.id.slice(3, 4); //btnA -> A
const state = (e.srcElement.attributes[1].value == "action" && (e.type == "mousedown" || e.type == "touchstart")) ? "1" : "0";
send_msg("BTN:" + id + state);
}
//추가 버튼 이벤트
let is_exec = false;
document.getElementById("exec").onclick = () => {
is_exec = !is_exec;
document.getElementById("exec").style.backgroundColor = is_exec ? "green" : "rgb(51, 51, 51)";
}
let is_change = false;
document.getElementById("change").onclick = () => {
is_change = !is_change;
document.getElementById("change").style.backgroundColor = is_change ? "green" : "rgb(51, 51, 51)";
}
const change_label = (e) => {
if (is_change) {
const new_id = prompt("New ID : ");
e.srcElement.innerHTML = new_id;
}
}
const add_label = (e) => {
if (!is_change) {
add(e.srcElement.innerHTML);
}
}
//라벨 버튼 이벤트. class="label" 버튼만 할당한다.
for (btn of document.getElementsByClassName("label")) {
btn.addEventListener("click", change_label);
btn.addEventListener("click", add_label);
}
//PC는 마우스 이벤트만, MOBILE은 터치 이벤트만 적용한다. 동시 적용 시 MOBILE에서 중복으로 이벤트 발생.
for (btn of document.getElementsByClassName("action")) {
(platform == "PC") ? (btn.addEventListener("mousedown", evt_btns), btn.addEventListener("mouseup", evt_btns)) : (btn.addEventListener("touchstart", evt_btns), btn.addEventListener("touchend", evt_btns));
}
//GUI 설정
const w = 640, h = 480;
const img_stream = document.getElementById("img_stream");
[img_stream.width, img_stream.height] = [w, h];
const canvas = document.getElementById("canvas");
[canvas.width, canvas.height] = [w, h];
const ctx = canvas.getContext("2d");
ctx.fillStyle = "rgb(0, 250, 000)";
ctx.strokeStyle = "rgb(0, 250, 000)";
ctx.font = "15px Arial";
ctx.lineWidth = 3;
//Websocket
const ip = window.location.protocol + "//" + window.location.hostname;
let ws;
let is_connect = "OFF";
const connect_ws = () => {
if (is_connect == "OFF") {
try {
ws = new WebSocket(ip.replace("http", "ws") + ":81");
ws.onopen = (msg) => {
is_connect = "ON";
img_stream.src = stream_url;
}
ws.onclose = (msg) => is_connect = "OFF";
ws.onmessage = (msg) => console.log(msg.data);
} catch {
console.log("Websocket failed.");
}
}
setTimeout(connect_ws, 5000);
}
connect_ws();
//전송 함수. 이 함수를 통해 블루투스나 웹소켓으로 전송할 것
let msg_last;
const send_msg = (msg) => {
if (msg != msg_last) {
if (is_connect == "ON") ws.send(msg);
console.log(msg);
msg_last = msg;
}
}
//키보드 이벤트
let key_ary = [];
window.addEventListener("keydown", (e) => (key_ary.indexOf(e.key) < 0) ? (key_ary.push(e.key), key_evt(e)) : false);
window.addEventListener("keyup", (e) => (key_ary.indexOf(e.key) >= 0) ? (key_ary.splice(key_ary.indexOf(e.key), 1), key_evt(e)) : false);
let key_evt = (e) => {
let command_key, value;
if (key_ary.includes("ArrowUp") && key_ary.includes("ArrowLeft")) {
command_key = "Q5";
value = { x: -100, y: -100 };
} else if (key_ary.includes("ArrowUp") && key_ary.includes("ArrowRight")) {
command_key = "E5";
value = { x: 100, y: -100 };
} else if (key_ary.includes("ArrowDown") && key_ary.includes("ArrowLeft")) {
command_key = "Z5";
value = { x: -100, y: 100 };
} else if (key_ary.includes("ArrowDown") && key_ary.includes("ArrowRight")) {
command_key = "C5";
value = { x: 100, y: 100 };
} else if (key_ary.includes("ArrowUp")) {
command_key = "W5";
value = { x: 0, y: -100 };
} else if (key_ary.includes("ArrowDown")) {
command_key = "X5";
value = { x: 0, y: 100 };
} else if (key_ary.includes("ArrowLeft")) {
command_key = "A5";
value = { x: -100, y: 0 };
} else if (key_ary.includes("ArrowRight")) {
command_key = "D5";
value = { x: 100, y: 0 };
} else {
command_key = "S0";
value = { x: 0, y: 0 };
}
joystick[0].setPosition(undefined, value);
send_msg("JOY:" + command_key);
}
const joystick = nipplejs.create({
mode: 'static',
position: { left: "120px", top: "120px" },
color: 'red',
size: 200,
zone: document.getElementById("joystick_zone")
});
//조이스틱 이벤트
joystick.on('move', function (evt, obj) {
const r = Math.round(obj.distance / 20, 0);
const th = obj.angle.degree;
let dir;
if (r > 0) {
if (th >= 0 && th < 22.5) dir = "D";
else if (th >= 22.5 && th < 22.5 + 45) dir = "E";
else if (th >= 22.5 && th < 22.5 + 90) dir = "W";
else if (th >= 22.5 && th < 22.5 + 135) dir = "Q";
else if (th >= 22.5 && th < 22.5 + 180) dir = "A";
else if (th >= 22.5 && th < 22.5 + 225) dir = "Z";
else if (th >= 22.5 && th < 22.5 + 270) dir = "X";
else if (th >= 22.5 && th < 22.5 + 315) dir = "C";
else if (th >= 22.5 && th < 22.5 + 360) dir = "D";
} else dir = "S";
send_msg("JOY:" + dir + String(r));
});
joystick.on('end', function (evt, obj) {
send_msg("JOY:" + "S0")
});
//KNN
let classifier, mobilenetModule;
let model_state = "LOADING";
const init = async function () {
classifier = knnClassifier.create();
mobilenetModule = await mobilenet.load();
model_state = "READY";
}
init();
const add = function (label) {
if (model_state == "READY") {
const img = tf.browser.fromPixels(img_stream);
const logits = mobilenetModule.infer(img, 'conv_preds');
classifier.addExample(logits, label);
console.log(`${label} added.`);
img.dispose();
logits.dispose();
} else {
console.log("Model not loaded.")
}
}
let prediction;
let error = "";
const pred = async function () {
if (is_exec) {
if (model_state == "READY") {
if (Object.keys(classifier.classExampleCount).length > 1) {
const x = tf.browser.fromPixels(img_stream);
const logits = mobilenetModule.infer(x, 'conv_preds');
const result = await classifier.predictClass(logits);
x.dispose();
logits.dispose();
prediction = result.label;
error = "";
send_msg("AI:" + prediction);
} else {
console.log("Need at least 2 IDs.");
error = "Need at least 2 IDs.";
}
} else {
console.log("Model not loaded.");
error = "Model not loaded.";
}
}
setTimeout(pred, 100);
}
pred();
const save_model = () => {
const dataset = classifier.getClassifierDataset();
const datasetObj = {}
Object.keys(dataset).forEach((key) => {
const data = dataset[key].dataSync();
datasetObj[key] = Array.from(data);
});
const jsonStr = JSON.stringify(datasetObj)
const link = document.createElement('a');
link.download = "model.json";
link.href = 'data:text/text;charset=utf-8,' + encodeURIComponent(jsonStr);
document.body.appendChild(link);
link.click();
link.remove();
}
const load_model = () => {
const input = document.createElement("input");
input.type = "file";
input.onchange = evt => {
const target = event.target || window.event.srcElement;
const files = target.files;
const fr = new FileReader();
if (files.length > 0) {
fr.onload = () => {
const dataset = fr.result;
const tensorObj = JSON.parse(dataset);
Object.keys(tensorObj).forEach((key) => {
tensorObj[key] = tf.tensor(tensorObj[key], [tensorObj[key].length / 1024, 1024]);
})
classifier.setClassifierDataset(tensorObj);
}
fr.readAsText(files[0]);
}
}
input.click();
}
const refresh = () => {
ctx.clearRect(0, 0, w, h);
ctx.fillText("MODEL : " + model_state, 5, 20);
if (model_state == "READY") ctx.fillText(JSON.stringify(classifier.classExampleCount), 130, 20);
ctx.fillText("CONNECTION : " + is_connect, 5, 40);
if (is_exec) ctx.fillText("PREDICTION : " + prediction, 5, 60);
if (error.length > 0) ctx.fillText(error, 5, 80);
setTimeout(refresh, 0);
}
refresh();
</script>
</html>
)rawliteral";
static esp_err_t index_handler(httpd_req_t *req){
httpd_resp_set_type(req, "text/html");
return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));
}
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];
res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
if(res != ESP_OK){
return res;
}
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); //Added.
while(true){
fb = esp_camera_fb_get();
if (!fb) {
Serial.println("ERROR");
res = ESP_FAIL;
} else {
if(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("ERROR");
res = ESP_FAIL;
}
} else {
_jpg_buf_len = fb->len;
_jpg_buf = fb->buf;
}
}
}
if(res == ESP_OK){
size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
}
if(res == ESP_OK){
res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
}
if(res == ESP_OK){
res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
}
if(fb){
esp_camera_fb_return(fb);
fb = NULL;
_jpg_buf = NULL;
} else if(_jpg_buf){
free(_jpg_buf);
_jpg_buf = NULL;
}
if(res != ESP_OK){
break;
}
}
return res;
}
void startCameraServer(){
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
config.server_port = 80;
httpd_uri_t index_uri = {
.uri = "/",
.method = HTTP_GET,
.handler = index_handler,
.user_ctx = NULL
};
httpd_uri_t stream_uri = {
.uri = "/stream",
.method = HTTP_GET,
.handler = stream_handler,
.user_ctx = NULL
};
if (httpd_start(&stream_httpd, &config) == ESP_OK) {
httpd_register_uri_handler(stream_httpd, &index_uri);
httpd_register_uri_handler(stream_httpd, &stream_uri);
}
}
void setup() {
pinMode(4, OUTPUT);
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
Serial.begin(115200);
mySerial.begin(115200, SERIAL_8N1, 12, 13);
Serial.setDebugOutput(false);
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;
config.frame_size = FRAMESIZE_VGA;
config.jpeg_quality = 10;
config.fb_count = 2;
// Camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("ERROR");
return;
}
// Wi-Fi connection
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
}
Serial.println("CONNECT");
mySerial.println("CONNECT");
digitalWrite(4, HIGH);
delay(30);
digitalWrite(4, LOW);
Serial.print("http://");
Serial.println(WiFi.localIP());
// Start streaming web server
startCameraServer();
// Start websocekt server
webSocket.begin();
webSocket.onEvent(onWebSocketEvent);
}
void loop() {
webSocket.loop();
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