AI学习笔记二十八:使用ESP32 CAM和YOLOV5实现目标检测

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最近在研究使用APP如何显示ESP32 CAM的摄像头数据，看到有人实现把ESP32 CAM的数据流上传，通过YOLOV5来检测，实现拉流推理，这里复现一下。

一、环境

arduino配置esp32-cam开发环境

https://www.jianshu.com/p/c1a69a6772f3

软件自行安装

二、程序

程序是基于esp32的例子上修改的

修改主要是几个地方

1、摄像头

根据自己的ESP32 CAM选择

2、WIFI

3、配置TCP端口

配置是为了YOLOV5拉流使用

4、源码

#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_M5STACK_UNITCAM // No PSRAM
#define CAMERA_MODEL_AI_THINKER // Has PSRAM
//#define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM
 
#include "camera_pins.h"
 
const char* ssid = "yifeng";
const char* password = "1234567890";
 
// 配置TCP端口
WiFiServer ServerPort(1234);
 
void startCameraServer();
 
void setup() {
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();
  // 配置闪光灯
  pinMode(4, OUTPUT);
  // 关闭闪光灯
  digitalWrite(4, LOW);
 
  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);
  s->set_framesize(s, FRAMESIZE_SVGA);
 
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);
 
#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");
 
  // 打开TCP
  ServerPort.begin();
}
 
void loop()
{
  unsigned char i = 200;
  // 等待客户端连接
  WiFiClient client = ServerPort.available();
  if (client) {
    Serial.println("New client connected");
    
    while (client.connected()) {
      // 检查是否有数据可供读取
      if (client.available()) {
        // 读取客户端发送的数据
        String data = client.readStringUntil('\n');
        Serial.print("Received data: ");
        Serial.println(data);
       

        // 发送响应到客户端
        String response = "Server received: " + data;
        client.println(response);
      }
    }
    
    // 断开与客户端的连接
    client.stop();
    Serial.println("Client disconnected");
  }
 
}

三、YOLOV5环境安装

YOLOV5采用的是5.0版本，下载源码后安装

参考：AI学习笔记二：YOLOV5环境搭建及测试全过程_yolov5 测试-CSDN博客

测试代码：

import cv2
import torch
import numpy as np
import socket
camera_url = "http://192.168.50.2:81/stream"
send_msg = "found"
# 创建socket对象
socket_client = socket.socket()
# 连接到服务器
socket_client.connect(("192.168.50.2", 1234))
# 读取yolov5模型
model = torch.hub.load('E:/desktop/ESP32_CAM/yolov5-5.0/', 'custom',
                       'E:/desktop/ESP32_CAM/yolov5-5.0/yolov5s.pt', source='local') 
# 设置模型
model.conf = 0.4
 
cap = cv2.VideoCapture(camera_url)
while True:
    ret, frame = cap.read()
    frame = cv2.flip(frame, 1)
    img_cvt = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
    results = model(img_cvt)
    # 打印得到的数据
    # print(str(results.pandas().xyxy[0].to_numpy()[:, -1]))  # tensor-to-numpy
 
    results_ = results.pandas().xyxy[0].to_numpy()
    for result in results_:
        target = result[6]
        if target != "":
            #发送消息
            socket_client.send(send_msg.encode("UTF-8"))
        print(target)
    i = 0
    # 画图
    for box in results_:
        l, t, r, b = box[:4].astype('int')
        confidence = str(round(box[4] * 100, 2)) + "%"
        cls_name = box[6]
        cv2.rectangle(frame, (l, t), (r, b), (0, 200, 55), 2)
        cv2.putText(frame, cls_name + "-" + confidence, (l, t), cv2.FONT_ITALIC, 1, (200, 55, 0), 2)
 
    cv2.imshow("result", frame)
 
    if cv2.waitKey(10) & 0xFF == ord("q"):
        break
cap.release()
cv2.destroyAllWindows()
# 关闭连接
socket_client.close()

代码需要注意的是地址，根据板子的地址，自行修改

测试结果：

四、YOLOV11测试

import cv2
import torch
import numpy as np
import socket
import cv2
from ultralytics import YOLO

camera_url = "http://192.168.1.106:81/stream"
send_msg = "found"
# 创建socket对象
socket_client = socket.socket()
# 连接到服务器
socket_client.connect(("192.168.1.106", 1234))


 
def predict(chosen_model, img, classes=[], conf=0.5):
    if classes:
        results = chosen_model.predict(img, classes=classes, conf=conf)
    else:
        results = chosen_model.predict(img, conf=conf)
 
    return results
 
def predict_and_detect(chosen_model, img, classes=[], conf=0.5, rectangle_thickness=2, text_thickness=1):
    results = predict(chosen_model, img, classes, conf=conf)
    for result in results:
        for box in result.boxes:
            cv2.rectangle(img, (int(box.xyxy[0][0]), int(box.xyxy[0][1])),
                          (int(box.xyxy[0][2]), int(box.xyxy[0][3])), (255, 0, 0), rectangle_thickness)
            cv2.putText(img, f"{result.names[int(box.cls[0])]}",
                        (int(box.xyxy[0][0]), int(box.xyxy[0][1]) - 10),
                        cv2.FONT_HERSHEY_PLAIN, 1, (255, 0, 0), text_thickness)
    return img, results
 
# defining function for creating a writer (for mp4 videos)
def create_video_writer(video_cap, output_filename):
    # grab the width, height, and fps of the frames in the video stream.
    frame_width = int(video_cap.get(cv2.CAP_PROP_FRAME_WIDTH))
    frame_height = int(video_cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
    fps = int(video_cap.get(cv2.CAP_PROP_FPS))
    # initialize the FourCC and a video writer object
    fourcc = cv2.VideoWriter_fourcc(*'MP4V')
    writer = cv2.VideoWriter(output_filename, fourcc, fps,
                             (frame_width, frame_height))
    return writer
 
model = YOLO("G:/enpei_Project_Code/ESP32_CAM/yolo11s.pt")

 
cap = cv2.VideoCapture(camera_url)
while True:
    success, img = cap.read()
    if not success:
        break
    result_img, _ = predict_and_detect(model, img, classes=[], conf=0.5)
    # 打印得到的数据
    # print(str(results.pandas().xyxy[0].to_numpy()[:, -1]))  # tensor-to-numpy
 
    cv2.imshow("Image", result_img)

 
    if cv2.waitKey(10) & 0xFF == ord("q"):
        break
cap.release()
cv2.destroyAllWindows()
# 关闭连接
socket_client.close()

这个只是个demo测试，还是想实现如果使用APP显示。

如有侵权，或需要完整代码，请及时联系博主。