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     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);
   }
   
   

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 -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