ESP32 CAM Arduino代码 #include "esp_camera.h"
#include <WiFi.h>
#include "AsyncUDP.h"
#include <vector>
const char *ssid = "dsx_zj";
const char *password = "dsxbs725";
#define maxcache 1430
//设置每次发送最大的数据量，如果选择一次发送会出现丢失数据，经测试，我这边每
//次最大发送1436，选择一个稍微小点的数
AsyncUDP udp; //异步udp既可以发送也可以接收
#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
static camera_config_t camera_config = {
.pin_pwdn = PWDN_GPIO_NUM,
.pin_reset = RESET_GPIO_NUM,
.pin_xclk = XCLK_GPIO_NUM,
.pin_sscb_sda = SIOD_GPIO_NUM,
.pin_sscb_scl = SIOC_GPIO_NUM,
.pin_d7 = Y9_GPIO_NUM,
.pin_d6 = Y8_GPIO_NUM,
.pin_d5 = Y7_GPIO_NUM,
.pin_d4 = Y6_GPIO_NUM,
.pin_d3 = Y5_GPIO_NUM,
.pin_d2 = Y4_GPIO_NUM,
.pin_d1 = Y3_GPIO_NUM,
.pin_d0 = Y2_GPIO_NUM,
.pin_vsync = VSYNC_GPIO_NUM,
.pin_href = HREF_GPIO_NUM,
.pin_pclk = PCLK_GPIO_NUM,
.xclk_freq_hz = 20000000,
.ledc_timer = LEDC_TIMER_0,
.ledc_channel = LEDC_CHANNEL_0,
.pixel_format = PIXFORMAT_JPEG,
.frame_size = FRAMESIZE_VGA,
.jpeg_quality = 12,
.fb_count = 1,
};
esp_err_t camera_init() {
//initialize the camera
esp_err_t err = esp_camera_init(&camera_config);
if (err != ESP_OK) {
Serial.println("Camera Init Failed!");
return err;
}
sensor_t * s = esp_camera_sensor_get();
//initial sensors are flipped vertically and colors are a bit saturated
if (s->id.PID == OV2640_PID) {
// s->set_vflip(s, 1);//flip it back
// s->set_brightness(s, 1);//up the blightness just a bit
// s->set_contrast(s, 1);
}
Serial.println("Camera Init OK!");
return ESP_OK;
}
void wifi_init(void)
{
delay(10);
WiFi.mode(WIFI_STA);
WiFi.setSleep(false); //鍏抽棴STA妯″紡涓媤ifi浼戠湢锛屾彁楂樺搷搴旈�熷害
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
Serial.print(".");
}
Serial.println();
Serial.println("WiFi Connected OK!");
Serial.print("IP Address:");
Serial.println(WiFi.localIP());
}
void setup() {
Serial.begin(115200);
camera_init(); //
wifi_init(); //
Serial.println("Sys Is Running!");
//此部分可忽略
if(udp.connect(IPAddress(192,168,0,2), 8080))
{
Serial.println("UDP Server Connected!");
udp.onPacket([](AsyncUDPPacket packet) {
Serial.print("UDP Packet Type: ");
Serial.print(packet.isBroadcast()?"Broadcast":packet.isMulticast()?"Multicast":"Unicast");
Serial.print(", From: ");
Serial.print(packet.remoteIP());
Serial.print(":");
Serial.print(packet.remotePort());
Serial.print(", To: ");
Serial.print(packet.localIP());
Serial.print(":");
Serial.print(packet.localPort());
Serial.print(", Length: ");
Serial.print(packet.length());
Serial.print(", Data: ");
Serial.write(packet.data(), packet.length());
Serial.println();
//reply to the client
packet.printf("Got %u bytes of data", packet.length());
});
//Send unicast
//udp.print("Hello Server!");
}
//忽略到此部分
}
void loop()
{
if(udp.connect(IPAddress(192,168,0,2), 8080)) //连接远端的udp
{
while(true){
//acquire a frame
camera_fb_t * fb = esp_camera_fb_get();
uint8_t * temp = fb->buf; //这个是为了保存一个地址，在摄像头数据发送完毕后需要返回，否则会出现板子发送一段时间后自动重启，不断重复
if (!fb)
{
Serial.print( "Camera Capture Failed!");
}
else
{
// 将图片数据分段发送
int leng = fb->len;
int timess = leng/maxcache;
int extra = leng%maxcache;
for(int j = 0;j< timess;j++)
{
udp.write(fb->buf, maxcache);
for(int i =0;i< maxcache;i++)
{
fb->buf++;
}
}
udp.write(fb->buf, extra);
udp.println();
udp.print("Frame Over");
Serial.print("This Frame Length:");
Serial.print(fb->len);
Serial.println(".Succes To Send Image For UDP");
//return the frame buffer back to the driver for reuse
fb->buf = temp; //将当时保存的指针重新返还
esp_camera_fb_return(fb); //这一步在发送完毕后要执行，具体作用还未可知。
}
//delay(60000);
delay(20); //不加延时会导致数据发送混乱 稍微延时增加数据传输可靠性
}
}else{
Serial.println("Connected UDP Server Fail,After 10 Seconds Try Again!");
}
delay(10000);
}
UDP Server代码 import socket
import numpy as np
import cv2
import time
# 创建UDP服务器
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# 注意 这里是服务器的IP和端口 不是客户端的
addr = ('192.168.0.2', 8080)
# 在云服务器上开启服务要使用内网的IP 腾讯云的地址
# addr = ('10.0.4.11', 8001)
s.bind(addr)
end_data = b'Frame Over'
temp_data = b''
#ESP32 Cam 返回数据格式
#b'(\xa0\x04\xa2\x98\x05%\x16\x00\xa4' 这个以及上面的都是图片数据
# b'\r\n' 返回的分隔符和回车 回车是自己写的代码（udp.println(); ） \r\n 长度为2 测试加在图片数据不影响显示
# b'Frame Over' 返回的结束符 用于判断是否一张图片结束 udp.print("Frame Over");
# UDP会发送单独的一个包 但是TCP不会单独发送 会和其他混在一起 这边TCP和UDP处理方式不一样
millis1 = int(round(time.time() * 1000))
while True:
data, addr= s.recvfrom(1430)
if data == end_data: # 判断这一帧数据是不是结束语句 UDP会发送单独的一个包 但是TCP不会单独发送
# print(temp_data) temp_data数据多了 b'\r\n' 但是不影响图片的显示
# 显示图片
receive_data = np.frombuffer(temp_data, dtype='uint8') # 将获取到的字符流数据转换成1维数组
r_img = cv2.imdecode(receive_data, cv2.IMREAD_COLOR) # 将数组解码成图像
r_img = r_img.reshape(480, 640, 3)
millis2 = int(round(time.time() * 1000))
millis = millis2 -millis1
fps = (1000//millis)
cv2.putText(r_img, "FPS:" + str(fps), (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2)
cv2.imshow('server_frame', r_img)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
print("接收到的数据包：" + str(len(temp_data))) # 显示该张照片数据大小
temp_data = b'' # 清空数据 便于下一章照片使用
millis1 = millis2
else:
temp_data = temp_data + data # 不是结束的包 讲数据添加进temp_data
