development to main

README.md

@@ -11,6 +11,10 @@ For a fresh start
 
 ### Important note: since stm32u5g9j_dk2 doesn't have camera sensor, you need to find out your own way how to transfer images to the board; I used uart for that purpose
 
+### Apply stm32hal.patch, in case -O2 (CONFIG_SPEED_OPTIMIZATIONS=y) is used
+* `modules/hal/stm32/`
+* `git apply ../../../stm32hal.patch`
+
 ## To enable OpenCV library and example code
 * in `u5/app/prj.conf` : CONFIG_OPENCV_LIB=y
 

host/.gitignore

@@ -0,0 +1 @@
+build

host/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.10)
+project(host_app)
+
+# Find OpenCV4
+find_package(OpenCV 4 REQUIRED)
+
+set(OPENCV_HAAR_PATH "/usr/share/opencv4/")
+#set(OPENCV_HAAR_PATH "${CMAKE_SOURCE_DIR}/Haar")
+
+set(HAAR_HEADER "${CMAKE_BINARY_DIR}/Include/HaarPath.hpp")
+file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/Include")
+
+configure_file(
+    ${CMAKE_SOURCE_DIR}/HaarPath.hpp.in
+    ${HAAR_HEADER}
+    @ONLY
+)
+
+set(OPENCV_UTILS_DIR_PATH "../u5/common/opencv")
+
+set(HOST_APP_SRCS
+    Src/main.cpp
+    ${OPENCV_UTILS_DIR_PATH}/src/opencv_utils.cpp
+    ${OPENCV_UTILS_DIR_PATH}/include/gf/opencv_utils.hpp
+)
+
+# Add executable
+add_executable(host_app ${HOST_APP_SRCS})
+
+# Link OpenCV libraries
+target_include_directories(host_app
+    PRIVATE "${CMAKE_BINARY_DIR}/Include"
+    PRIVATE ${OpenCV_INCLUDE_DIRS}
+    PRIVATE ${OPENCV_UTILS_DIR_PATH}/include)
+
+target_link_libraries(host_app PRIVATE ${OpenCV_LIBS})

host/HaarPath.hpp.in

@@ -0,0 +1,3 @@
+#pragma once
+
+constexpr const char* HAAR_PATH = "@OPENCV_HAAR_PATH@";

host/Src/main.cpp

@@ -0,0 +1,148 @@
+#include <opencv2/opencv.hpp>
+#include <iostream>
+
+#include "HaarPath.hpp"
+
+#include "gf/opencv_utils.hpp"
+
+cv::String haarPath = HAAR_PATH;
+cv::String face_cascade_name = haarPath + "lbpcascades/lbpcascade_frontalface_improved.xml";
+cv::String smile_cascade_name = haarPath + "haarcascades/haarcascade_smile.xml";
+cv::CascadeClassifier face_cascade;
+cv::CascadeClassifier smile_cascade;
+cv::String window_name = "Capture - Face detection";
+cv::String window_name_2 = "Capture - Smile detection";
+
+
+bool checkFrameSizeSupported(cv::Mat &gray) {
+	if (gray.cols == 640 && gray.rows == 480) {
+		return true;
+	}
+
+	if (gray.cols == 320 && gray.rows == 240) {
+		return true;
+	}
+	return false;
+}
+
+int main(int, char**) {
+    // open the first webcam plugged in the computer
+    cv::VideoCapture camera(0); // in linux check $ ls /dev/video0
+    if (!camera.isOpened()) {
+        std::cerr << "ERROR: Could not open camera" << std::endl;
+        return 1;
+    }
+
+    // array to hold image
+    cv::Mat frameOriginal;
+	cv::Mat frameScreenGray;
+
+    if (!face_cascade.load(face_cascade_name))
+	{
+		printf("--(!)Error loading face cascade\n"); 
+		return -1;
+	};
+	if (!smile_cascade.load(smile_cascade_name)) 
+	{
+		printf("--(!)Error loading eyes cascade\n"); 
+		return -1;
+	};
+
+    cv::namedWindow(window_name, 2);
+    // display the frame until you press a key
+
+	std::cout << "Start capturing" << std::endl;
+	float gamma = 0.1;
+	std::map<float, uint32_t> gammaScore;
+	while (camera.read(frameOriginal)) {
+
+		if (frameOriginal.empty())
+		{
+			printf(" --(!) No captured frame -- Break!");
+			break;
+		}
+
+		cv::Mat frameOriginalGray;
+		cv::cvtColor(frameOriginal, frameOriginalGray, cv::COLOR_BGR2GRAY);
+		//cv::equalizeHist(frameOriginalGray, frameOriginalGray);
+
+		if (false == checkFrameSizeSupported(frameOriginalGray)) {
+			std::cerr << "Not supported frame size" << std::endl;
+			exit(-1);
+		}
+
+		cv::Mat frameCroppedGray;
+
+		if (frameOriginalGray.cols == 640 && frameOriginalGray.rows == 480) {
+			cv::Rect crop;
+			crop.width = 320;
+			crop.height = 240;
+			crop.x = (frameOriginalGray.cols - crop.width) / 2;
+			crop.y = (frameOriginalGray.rows - crop.height) / 2;
+			frameCroppedGray = frameOriginalGray(crop);
+		} else {
+			frameCroppedGray = frameOriginalGray;
+		}
+
+		cv::Rect faceROIMax{};
+		faceROIMax.width = 64;
+		faceROIMax.height = 64;
+
+		cv::resize(frameCroppedGray, frameScreenGray, cv::Size(80, 80), 0.0f, 0.0f, cv::INTER_NEAREST );
+
+		std::vector<cv::Rect> faces, smiles;
+
+		cv::Mat smilePostProc = detectFaceAndSmile(
+			face_cascade,
+			smile_cascade,
+			frameScreenGray,
+			frameCroppedGray,
+			faceROIMax,
+			faces,
+			smiles,
+			gamma
+		);
+
+		if (!faces.empty() && !smiles.empty()) {
+			if (gammaScore.count(gamma)) {
+				gammaScore[gamma] = gammaScore[gamma] + 1;
+			} else {
+				gammaScore[gamma] = 1;
+			}
+		}
+
+		if (!faces.empty() && smiles.empty()) {
+			gamma += 0.1;
+			if (gamma >= 1.0) {
+				gamma = 0.1;
+			}
+		}
+
+		for (const auto &ROI : faces) {
+			rectangle(frameScreenGray, ROI, cv::Scalar(0, 0, 255), 1, 1, 0);
+		}
+		for (const auto &ROI : smiles) {
+			rectangle(frameScreenGray, ROI, cv::Scalar(0, 0, 255), 1, 1, 0);
+		}
+
+		if (smilePostProc.cols && smilePostProc.rows) {
+			cv::imshow(window_name_2, smilePostProc);
+		}
+		cv::imshow(window_name, frameScreenGray);
+
+		int c = cv::waitKey(100);
+    	if ((char)c == 27) { break; }
+    }
+
+	for (auto & [gamma, score] : gammaScore) {
+		std::cout << "gamma = " << gamma << ", score = " << score << std::endl;
+	}
+
+    return 0;
+}
+
+// CMD to generate executable: 
+// g++ webcam_opencv.cpp -o webcam_demo -I/usr/include/opencv4 -lopencv_core -lopencv_videoio -lopencv_highgui
+
+// Note: check your opencv hpp files - for many users it is at /usr/local/include/opencv4
+// Add more packages during compilation from the list obtained by $ pkg-config --cflags --libs opencv4

stm32hal.patch

@@ -0,0 +1,20 @@
+diff --git a/stm32cube/stm32u5xx/drivers/src/stm32u5xx_hal_dma_ex.c b/stm32cube/stm32u5xx/drivers/src/stm32u5xx_hal_dma_ex.c
+index d60eca23..708ff379 100644
+--- a/stm32cube/stm32u5xx/drivers/src/stm32u5xx_hal_dma_ex.c
++++ b/stm32cube/stm32u5xx/drivers/src/stm32u5xx_hal_dma_ex.c
+@@ -516,6 +516,9 @@
+ /* Includes ----------------------------------------------------------------------------------------------------------*/
+ #include "stm32u5xx_hal.h"
+
++#pragma GCC push_options
++#pragma GCC optimize ("O0")
++
+ /** @addtogroup STM32U5xx_HAL_Driver
+   * @{
+   */
+@@ -4717,3 +4720,5 @@ static void DMA_List_CleanQueue(DMA_QListTypeDef *const pQList)
+ /**
+   * @}
+   */
++
++#pragma GCC pop_options

u5/CMakeLists.txt

@@ -13,3 +13,5 @@ zephyr_include_directories(include)
 
 add_subdirectory(drivers)
 add_subdirectory(lib)
+add_subdirectory(common)
+

u5/app/CMakeLists.txt

@@ -6,6 +6,8 @@
 
 cmake_minimum_required(VERSION 3.13.1)
 
+message(FATAL_ERROR This application is deprecated, please use uvc_gf_dk1 / gf_dkx / ...)
+
 set(EXTRA_CONF_FILE
     ${CMAKE_CURRENT_SOURCE_DIR}/lvgl.conf;
 )
@@ -36,6 +38,12 @@ target_sources(app PRIVATE
     src/video.cpp
 )
 
+if (CONFIG_BOARD_GRINREFLEX_DK1 OR CONFIG_BOARD_GRINREFLEX_DK2)
+target_sources(app PRIVATE
+    src/grinreflex_utils.cpp
+)
+endif()
+
 if (CONFIG_BOARD_GRINREFLEX_DK1)
 target_sources(app PRIVATE
     src/sample_usbd_init.c
@@ -49,4 +57,4 @@ if (CONFIG_BOARD_GRINREFLEX_DK2)
 target_sources(app PRIVATE
     src/grinreflex_v2.cpp
 )
-endif()
+endif()

u5/app/Kconfig

@@ -17,32 +17,3 @@ source "subsys/logging/Kconfig.template.log_config"
 source "Kconfig.zephyr"
 rsource "Kconfig.sample_usbd"
 rsource "Kconfig.sample_msc"
-
-menu "GrinReflex dk1 settings"
-
-config GRINREFLEX_JPEG_VIDEO
-	bool "Enable jpeg video input"
-	default y
-    depends on BOARD_GRINREFLEX_DK1 || BOARD_GRINREFLEX_DK2
-
-config GRINREFLEX_JPEG_VIDEO_QUALITY
-    int "Set jpeg quality, lower value - higher quality"
-    default 63
-    depends on BOARD_GRINREFLEX_DK1 || BOARD_GRINREFLEX_DK2
-
-config GRINREFLEX_VIDEO_WIDTH
-    int "Width of a video frame"
-    default 160
-
-config GRINREFLEX_VIDEO_HEIGHT
-    int "Height of a video frame"
-    default 120
-
-if GRINREFLEX_JPEG_VIDEO
-config LV_COLOR_16_SWAP
-    bool
-    default y
-endif
-
-
-endmenu