ESP32 CAM与服务器（python）UDP视频传输-Toy模板网

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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

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