ESP32 CAM与服务器（python）UDP视频传输

服务器（python）UDP视频传输"/>

ESP32 CAM与服务器（python）UDP视频传输

1. 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     22static 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 cameraesp_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 saturatedif (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 clientpacket.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 framecamera_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 reusefb->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);
   }

2. 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 -millis1fps = (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'):breakprint("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 = millis2else:temp_data = temp_data + data  # 不是结束的包 讲数据添加进temp_data