text: // Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  #include "Arduino.h"
  #include "camera_index.h"
  #include "esp_camera.h"
  #include "esp_http_server.h"
  #include "esp_timer.h"
  #include "fb_gfx.h"
  #include "fd_forward.h"
  #include "fr_forward.h"
  #include "img_converters.h"
  
  #define ENROLL_CONFIRM_TIMES 5
  #define FACE_ID_SAVE_NUMBER 7
  
  #define FACE_COLOR_WHITE 0x00FFFFFF
  #define FACE_COLOR_BLACK 0x00000000
  #define FACE_COLOR_RED 0x000000FF
  #define FACE_COLOR_GREEN 0x0000FF00
  #define FACE_COLOR_BLUE 0x00FF0000
  #define FACE_COLOR_YELLOW (FACE_COLOR_RED | FACE_COLOR_GREEN)
  #define FACE_COLOR_CYAN (FACE_COLOR_BLUE | FACE_COLOR_GREEN)
  #define FACE_COLOR_PURPLE (FACE_COLOR_BLUE | FACE_COLOR_RED)
  
  typedef struct {
    size_t size;   // number of values used for filtering
    size_t index;  // current value index
    size_t count;  // value count
    int sum;
    int *values;  // array to be filled with values
  } ra_filter_t;
  
  typedef struct {
    httpd_req_t *req;
    size_t len;
  } jpg_chunking_t;
  
  #define PART_BOUNDARY "123456789000000000000987654321"
  static const char *_STREAM_CONTENT_TYPE =
      "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
  static const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
  static const char *_STREAM_PART =
      "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
  
  static ra_filter_t ra_filter;
  httpd_handle_t stream_httpd = NULL;
  httpd_handle_t camera_httpd = NULL;
  
  static mtmn_config_t mtmn_config = {0};
  static int8_t detection_enabled = 0;
  static int8_t recognition_enabled = 0;
  static int8_t is_enrolling = 0;
  static face_id_list id_list = {0};
  
  static ra_filter_t *ra_filter_init(ra_filter_t *filter, size_t sample_size) {
    memset(filter, 0, sizeof(ra_filter_t));
  
    filter->values = (int *)malloc(sample_size * sizeof(int));
    if (!filter->values) {
      return NULL;
    }
    memset(filter->values, 0, sample_size * sizeof(int));
  
    filter->size = sample_size;
    return filter;
  }
  
  static int ra_filter_run(ra_filter_t *filter, int value) {
    if (!filter->values) {
      return value;
    }
    filter->sum -= filter->values[filter->index];
    filter->values[filter->index] = value;
    filter->sum += filter->values[filter->index];
    filter->index++;
    filter->index = filter->index % filter->size;
    if (filter->count < filter->size) {
      filter->count++;
    }
    return filter->sum / filter->count;
  }
  
  static void rgb_print(dl_matrix3du_t *image_matrix, uint32_t color,
                        const char *str) {
    fb_data_t fb;
    fb.width = image_matrix->w;
    fb.height = image_matrix->h;
    fb.data = image_matrix->item;
    fb.bytes_per_pixel = 3;
    fb.format = FB_BGR888;
    fb_gfx_print(&fb, (fb.width - (strlen(str) * 14)) / 2, 10, color, str);
  }
  
  static int rgb_printf(dl_matrix3du_t *image_matrix, uint32_t color,
                        const char *format, ...) {
    char loc_buf[64];
    char *temp = loc_buf;
    int len;
    va_list arg;
    va_list copy;
    va_start(arg, format);
    va_copy(copy, arg);
    len = vsnprintf(loc_buf, sizeof(loc_buf), format, arg);
    va_end(copy);
    if (len >= sizeof(loc_buf)) {
      temp = (char *)malloc(len + 1);
      if (temp == NULL) {
        return 0;
      }
    }
    vsnprintf(temp, len + 1, format, arg);
    va_end(arg);
    rgb_print(image_matrix, color, temp);
    if (len > 64) {
      free(temp);
    }
    return len;
  }
  
  static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes,
                              int face_id) {
    int x, y, w, h, i;
    uint32_t color = FACE_COLOR_YELLOW;
    if (face_id < 0) {
      color = FACE_COLOR_RED;
    } else if (face_id > 0) {
      color = FACE_COLOR_GREEN;
    }
    fb_data_t fb;
    fb.width = image_matrix->w;
    fb.height = image_matrix->h;
    fb.data = image_matrix->item;
    fb.bytes_per_pixel = 3;
    fb.format = FB_BGR888;
    for (i = 0; i < boxes->len; i++) {
      // rectangle box
      x = (int)boxes->box[i].box_p[0];
      y = (int)boxes->box[i].box_p[1];
      w = (int)boxes->box[i].box_p[2] - x + 1;
      h = (int)boxes->box[i].box_p[3] - y + 1;
      fb_gfx_drawFastHLine(&fb, x, y, w, color);
      fb_gfx_drawFastHLine(&fb, x, y + h - 1, w, color);
      fb_gfx_drawFastVLine(&fb, x, y, h, color);
      fb_gfx_drawFastVLine(&fb, x + w - 1, y, h, color);
  #if 0
          // landmark
          int x0, y0, j;
          for (j = 0; j < 10; j+=2) {
              x0 = (int)boxes->landmark[i].landmark_p[j];
              y0 = (int)boxes->landmark[i].landmark_p[j+1];
              fb_gfx_fillRect(&fb, x0, y0, 3, 3, color);
          }
  #endif
    }
  }
  
  static int run_face_recognition(dl_matrix3du_t *image_matrix,
                                  box_array_t *net_boxes) {
    dl_matrix3du_t *aligned_face = NULL;
    int matched_id = 0;
  
    aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3);
    if (!aligned_face) {
      Serial.println("Could not allocate face recognition buffer");
      return matched_id;
    }
    if (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK) {
      if (is_enrolling == 1) {
        int8_t left_sample_face = enroll_face(&id_list, aligned_face);
  
        if (left_sample_face == (ENROLL_CONFIRM_TIMES - 1)) {
          Serial.printf("Enrolling Face ID: %d\n", id_list.tail);
        }
        Serial.printf("Enrolling Face ID: %d sample %d\n", id_list.tail,
                      ENROLL_CONFIRM_TIMES - left_sample_face);
        rgb_printf(image_matrix, FACE_COLOR_CYAN, "ID[%u] Sample[%u]",
                   id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
        if (left_sample_face == 0) {
          is_enrolling = 0;
          Serial.printf("Enrolled Face ID: %d\n", id_list.tail);
        }
      } else {
        matched_id = recognize_face(&id_list, aligned_face);
        if (matched_id >= 0) {
          Serial.printf("Match Face ID: %u\n", matched_id);
          rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello Subject %u",
                     matched_id);
        } else {
          Serial.println("No Match Found");
          rgb_print(image_matrix, FACE_COLOR_RED, "Intruder Alert!");
          matched_id = -1;
        }
      }
    } else {
      Serial.println("Face Not Aligned");
      // rgb_print(image_matrix, FACE_COLOR_YELLOW, "Human Detected");
    }
  
    dl_matrix3du_free(aligned_face);
    return matched_id;
  }
  
  static size_t jpg_encode_stream(void *arg, size_t index, const void *data,
                                  size_t len) {
    jpg_chunking_t *j = (jpg_chunking_t *)arg;
    if (!index) {
      j->len = 0;
    }
    if (httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK) {
      return 0;
    }
    j->len += len;
    return len;
  }
  
  static esp_err_t capture_handler(httpd_req_t *req) {
    camera_fb_t *fb = NULL;
    esp_err_t res = ESP_OK;
    int64_t fr_start = esp_timer_get_time();
  
    fb = esp_camera_fb_get();
    if (!fb) {
      Serial.println("Camera capture failed");
      httpd_resp_send_500(req);
      return ESP_FAIL;
    }
  
    httpd_resp_set_type(req, "image/jpeg");
    httpd_resp_set_hdr(req, "Content-Disposition",
                       "inline; filename=capture.jpg");
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
  
    size_t out_len, out_width, out_height;
    uint8_t *out_buf;
    bool s;
    bool detected = false;
    int face_id = 0;
    if (!detection_enabled || fb->width > 400) {
      size_t fb_len = 0;
      if (fb->format == PIXFORMAT_JPEG) {
        fb_len = fb->len;
        res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
      } else {
        jpg_chunking_t jchunk = {req, 0};
        res =
            frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk) ? ESP_OK : ESP_FAIL;
        httpd_resp_send_chunk(req, NULL, 0);
        fb_len = jchunk.len;
      }
      esp_camera_fb_return(fb);
      int64_t fr_end = esp_timer_get_time();
      Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len),
                    (uint32_t)((fr_end - fr_start) / 1000));
      return res;
    }
  
    dl_matrix3du_t *image_matrix =
        dl_matrix3du_alloc(1, fb->width, fb->height, 3);
    if (!image_matrix) {
      esp_camera_fb_return(fb);
      Serial.println("dl_matrix3du_alloc failed");
      httpd_resp_send_500(req);
      return ESP_FAIL;
    }
  
    out_buf = image_matrix->item;
    out_len = fb->width * fb->height * 3;
    out_width = fb->width;
    out_height = fb->height;
  
    s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
    esp_camera_fb_return(fb);
    if (!s) {
      dl_matrix3du_free(image_matrix);
      Serial.println("to rgb888 failed");
      httpd_resp_send_500(req);
      return ESP_FAIL;
    }
  
    box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config);
  
    if (net_boxes) {
      detected = true;
      if (recognition_enabled) {
        face_id = run_face_recognition(image_matrix, net_boxes);
      }
      draw_face_boxes(image_matrix, net_boxes, face_id);
      free(net_boxes->score);
      free(net_boxes->box);
      free(net_boxes->landmark);
      free(net_boxes);
    }
  
    jpg_chunking_t jchunk = {req, 0};
    s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90,
                   jpg_encode_stream, &jchunk);
    dl_matrix3du_free(image_matrix);
    if (!s) {
      Serial.println("JPEG compression failed");
      return ESP_FAIL;
    }
  
    int64_t fr_end = esp_timer_get_time();
    Serial.printf("FACE: %uB %ums %s%d\n", (uint32_t)(jchunk.len),
                  (uint32_t)((fr_end - fr_start) / 1000),
                  detected ? "DETECTED " : "", face_id);
    return res;
  }
  
  static esp_err_t stream_handler(httpd_req_t *req) {
    camera_fb_t *fb = NULL;
    esp_err_t res = ESP_OK;
    size_t _jpg_buf_len = 0;
    uint8_t *_jpg_buf = NULL;
    char *part_buf[64];
    dl_matrix3du_t *image_matrix = NULL;
    bool detected = false;
    int face_id = 0;
    int64_t fr_start = 0;
    int64_t fr_ready = 0;
    int64_t fr_face = 0;
    int64_t fr_recognize = 0;
    int64_t fr_encode = 0;
  
    static int64_t last_frame = 0;
    if (!last_frame) {
      last_frame = esp_timer_get_time();
    }
  
    res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
    if (res != ESP_OK) {
      return res;
    }
  
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
  
    while (true) {
      detected = false;
      face_id = 0;
      fb = esp_camera_fb_get();
      if (!fb) {
        Serial.println("Camera capture failed");
        res = ESP_FAIL;
      } else {
        fr_start = esp_timer_get_time();
        fr_ready = fr_start;
        fr_face = fr_start;
        fr_encode = fr_start;
        fr_recognize = fr_start;
        if (!detection_enabled || fb->width > 400) {
          if (fb->format != PIXFORMAT_JPEG) {
            bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
            esp_camera_fb_return(fb);
            fb = NULL;
            if (!jpeg_converted) {
              Serial.println("JPEG compression failed");
              res = ESP_FAIL;
            }
          } else {
            _jpg_buf_len = fb->len;
            _jpg_buf = fb->buf;
          }
        } else {
          image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
  
          if (!image_matrix) {
            Serial.println("dl_matrix3du_alloc failed");
            res = ESP_FAIL;
          } else {
            if (!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item)) {
              Serial.println("fmt2rgb888 failed");
              res = ESP_FAIL;
            } else {
              fr_ready = esp_timer_get_time();
              box_array_t *net_boxes = NULL;
              if (detection_enabled) {
                net_boxes = face_detect(image_matrix, &mtmn_config);
              }
              fr_face = esp_timer_get_time();
              fr_recognize = fr_face;
              if (net_boxes || fb->format != PIXFORMAT_JPEG) {
                if (net_boxes) {
                  detected = true;
                  if (recognition_enabled) {
                    face_id = run_face_recognition(image_matrix, net_boxes);
                  }
                  fr_recognize = esp_timer_get_time();
                  draw_face_boxes(image_matrix, net_boxes, face_id);
                  free(net_boxes->score);
                  free(net_boxes->box);
                  free(net_boxes->landmark);
                  free(net_boxes);
                }
                if (!fmt2jpg(image_matrix->item, fb->width * fb->height * 3,
                             fb->width, fb->height, PIXFORMAT_RGB888, 90,
                             &_jpg_buf, &_jpg_buf_len)) {
                  Serial.println("fmt2jpg failed");
                  res = ESP_FAIL;
                }
                esp_camera_fb_return(fb);
                fb = NULL;
              } else {
                _jpg_buf = fb->buf;
                _jpg_buf_len = fb->len;
              }
              fr_encode = esp_timer_get_time();
            }
            dl_matrix3du_free(image_matrix);
          }
        }
      }
      if (res == ESP_OK) {
        size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
        res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
      }
      if (res == ESP_OK) {
        res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
      }
      if (res == ESP_OK) {
        res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY,
                                    strlen(_STREAM_BOUNDARY));
      }
      if (fb) {
        esp_camera_fb_return(fb);
        fb = NULL;
        _jpg_buf = NULL;
      } else if (_jpg_buf) {
        free(_jpg_buf);
        _jpg_buf = NULL;
      }
      if (res != ESP_OK) {
        break;
      }
      int64_t fr_end = esp_timer_get_time();
  
      int64_t ready_time = (fr_ready - fr_start) / 1000;
      int64_t face_time = (fr_face - fr_ready) / 1000;
      int64_t recognize_time = (fr_recognize - fr_face) / 1000;
      int64_t encode_time = (fr_encode - fr_recognize) / 1000;
      int64_t process_time = (fr_encode - fr_start) / 1000;
  
      int64_t frame_time = fr_end - last_frame;
      last_frame = fr_end;
      frame_time /= 1000;
      uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
      Serial.printf(
          "MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps), %u+%u+%u+%u=%u %s%d\n",
          (uint32_t)(_jpg_buf_len), (uint32_t)frame_time,
          1000.0 / (uint32_t)frame_time, avg_frame_time, 1000.0 / avg_frame_time,
          (uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time,
          (uint32_t)encode_time, (uint32_t)process_time,
          (detected) ? "DETECTED " : "", face_id);
    }
  
    last_frame = 0;
    return res;
  }
  
  static esp_err_t cmd_handler(httpd_req_t *req) {
    char *buf;
    size_t buf_len;
    char variable[32] = {
        0,
    };
    char value[32] = {
        0,
    };
  
    buf_len = httpd_req_get_url_query_len(req) + 1;
    if (buf_len > 1) {
      buf = (char *)malloc(buf_len);
      if (!buf) {
        httpd_resp_send_500(req);
        return ESP_FAIL;
      }
      if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
        if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) ==
                ESP_OK &&
            httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
        } else {
          free(buf);
          httpd_resp_send_404(req);
          return ESP_FAIL;
        }
      } else {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
      }
      free(buf);
    } else {
      httpd_resp_send_404(req);
      return ESP_FAIL;
    }
  
    int val = atoi(value);
    sensor_t *s = esp_camera_sensor_get();
    int res = 0;
  
    if (!strcmp(variable, "framesize")) {
      if (s->pixformat == PIXFORMAT_JPEG)
        res = s->set_framesize(s, (framesize_t)val);
    } else if (!strcmp(variable, "quality"))
      res = s->set_quality(s, val);
    else if (!strcmp(variable, "contrast"))
      res = s->set_contrast(s, val);
    else if (!strcmp(variable, "brightness"))
      res = s->set_brightness(s, val);
    else if (!strcmp(variable, "saturation"))
      res = s->set_saturation(s, val);
    else if (!strcmp(variable, "gainceiling"))
      res = s->set_gainceiling(s, (gainceiling_t)val);
    else if (!strcmp(variable, "colorbar"))
      res = s->set_colorbar(s, val);
    else if (!strcmp(variable, "awb"))
      res = s->set_whitebal(s, val);
    else if (!strcmp(variable, "agc"))
      res = s->set_gain_ctrl(s, val);
    else if (!strcmp(variable, "aec"))
      res = s->set_exposure_ctrl(s, val);
    else if (!strcmp(variable, "hmirror"))
      res = s->set_hmirror(s, val);
    else if (!strcmp(variable, "vflip"))
      res = s->set_vflip(s, val);
    else if (!strcmp(variable, "awb_gain"))
      res = s->set_awb_gain(s, val);
    else if (!strcmp(variable, "agc_gain"))
      res = s->set_agc_gain(s, val);
    else if (!strcmp(variable, "aec_value"))
      res = s->set_aec_value(s, val);
    else if (!strcmp(variable, "aec2"))
      res = s->set_aec2(s, val);
    else if (!strcmp(variable, "dcw"))
      res = s->set_dcw(s, val);
    else if (!strcmp(variable, "bpc"))
      res = s->set_bpc(s, val);
    else if (!strcmp(variable, "wpc"))
      res = s->set_wpc(s, val);
    else if (!strcmp(variable, "raw_gma"))
      res = s->set_raw_gma(s, val);
    else if (!strcmp(variable, "lenc"))
      res = s->set_lenc(s, val);
    else if (!strcmp(variable, "special_effect"))
      res = s->set_special_effect(s, val);
    else if (!strcmp(variable, "wb_mode"))
      res = s->set_wb_mode(s, val);
    else if (!strcmp(variable, "ae_level"))
      res = s->set_ae_level(s, val);
    else if (!strcmp(variable, "face_detect")) {
      detection_enabled = val;
      if (!detection_enabled) {
        recognition_enabled = 0;
      }
    } else if (!strcmp(variable, "face_enroll"))
      is_enrolling = val;
    else if (!strcmp(variable, "face_recognize")) {
      recognition_enabled = val;
      if (recognition_enabled) {
        detection_enabled = val;
      }
    } else {
      res = -1;
    }
  
    if (res) {
      return httpd_resp_send_500(req);
    }
  
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, NULL, 0);
  }
  
  static esp_err_t status_handler(httpd_req_t *req) {
    static char json_response[1024];
  
    sensor_t *s = esp_camera_sensor_get();
    char *p = json_response;
    *p++ = '{';
  
    p += sprintf(p, "\"framesize\":%u,", s->status.framesize);
    p += sprintf(p, "\"quality\":%u,", s->status.quality);
    p += sprintf(p, "\"brightness\":%d,", s->status.brightness);
    p += sprintf(p, "\"contrast\":%d,", s->status.contrast);
    p += sprintf(p, "\"saturation\":%d,", s->status.saturation);
    p += sprintf(p, "\"sharpness\":%d,", s->status.sharpness);
    p += sprintf(p, "\"special_effect\":%u,", s->status.special_effect);
    p += sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode);
    p += sprintf(p, "\"awb\":%u,", s->status.awb);
    p += sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain);
    p += sprintf(p, "\"aec\":%u,", s->status.aec);
    p += sprintf(p, "\"aec2\":%u,", s->status.aec2);
    p += sprintf(p, "\"ae_level\":%d,", s->status.ae_level);
    p += sprintf(p, "\"aec_value\":%u,", s->status.aec_value);
    p += sprintf(p, "\"agc\":%u,", s->status.agc);
    p += sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain);
    p += sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling);
    p += sprintf(p, "\"bpc\":%u,", s->status.bpc);
    p += sprintf(p, "\"wpc\":%u,", s->status.wpc);
    p += sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);
    p += sprintf(p, "\"lenc\":%u,", s->status.lenc);
    p += sprintf(p, "\"vflip\":%u,", s->status.vflip);
    p += sprintf(p, "\"hmirror\":%u,", s->status.hmirror);
    p += sprintf(p, "\"dcw\":%u,", s->status.dcw);
    p += sprintf(p, "\"colorbar\":%u,", s->status.colorbar);
    p += sprintf(p, "\"face_detect\":%u,", detection_enabled);
    p += sprintf(p, "\"face_enroll\":%u,", is_enrolling);
    p += sprintf(p, "\"face_recognize\":%u", recognition_enabled);
    *p++ = '}';
    *p++ = 0;
    httpd_resp_set_type(req, "application/json");
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, json_response, strlen(json_response));
  }
  
  static esp_err_t index_handler(httpd_req_t *req) {
    httpd_resp_set_type(req, "text/html");
    httpd_resp_set_hdr(req, "Content-Encoding", "gzip");
    sensor_t *s = esp_camera_sensor_get();
    if (s->id.PID == OV3660_PID) {
      return httpd_resp_send(req, (const char *)index_ov3660_html_gz,
                             index_ov3660_html_gz_len);
    }
    return httpd_resp_send(req, (const char *)index_ov2640_html_gz,
                           index_ov2640_html_gz_len);
  }
  
  const char feed_html[] =
      "<html><head><title>Feed "
      "Result</title></head><body><h3>OK.</h3></body></html>";
  
  static esp_err_t feed_handler(httpd_req_t *req) {
    httpd_resp_set_type(req, "text/html");
    extern bool feed_run;
    feed_run = true;
    return httpd_resp_send(req, feed_html, sizeof(feed_html) / sizeof(char));
  }
  
  void startCameraServer() {
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();
  
    httpd_uri_t index_uri = {.uri = "/",
                             .method = HTTP_GET,
                             .handler = index_handler,
                             .user_ctx = NULL};
  
    httpd_uri_t status_uri = {.uri = "/status",
                              .method = HTTP_GET,
                              .handler = status_handler,
                              .user_ctx = NULL};
  
    httpd_uri_t cmd_uri = {.uri = "/control",
                           .method = HTTP_GET,
                           .handler = cmd_handler,
                           .user_ctx = NULL};
  
    httpd_uri_t capture_uri = {.uri = "/capture",
                               .method = HTTP_GET,
                               .handler = capture_handler,
                               .user_ctx = NULL};
  
    httpd_uri_t stream_uri = {.uri = "/stream",
                              .method = HTTP_GET,
                              .handler = stream_handler,
                              .user_ctx = NULL};
  
    httpd_uri_t feed_uri = {.uri = "/feed",
                              .method = HTTP_GET,
                              .handler = feed_handler,
                              .user_ctx = NULL};
  
    ra_filter_init(&ra_filter, 20);
  
    mtmn_config.type = FAST;
    mtmn_config.min_face = 80;
    mtmn_config.pyramid = 0.707;
    mtmn_config.pyramid_times = 4;
    mtmn_config.p_threshold.score = 0.6;
    mtmn_config.p_threshold.nms = 0.7;
    mtmn_config.p_threshold.candidate_number = 20;
    mtmn_config.r_threshold.score = 0.7;
    mtmn_config.r_threshold.nms = 0.7;
    mtmn_config.r_threshold.candidate_number = 10;
    mtmn_config.o_threshold.score = 0.7;
    mtmn_config.o_threshold.nms = 0.7;
    mtmn_config.o_threshold.candidate_number = 1;
  
    face_id_init(&id_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES);
  
    Serial.printf("Starting web server on port: '%d'\n", config.server_port);
    if (httpd_start(&camera_httpd, &config) == ESP_OK) {
      httpd_register_uri_handler(camera_httpd, &index_uri);
      httpd_register_uri_handler(camera_httpd, &cmd_uri);
      httpd_register_uri_handler(camera_httpd, &status_uri);
      httpd_register_uri_handler(camera_httpd, &capture_uri);
      httpd_register_uri_handler(camera_httpd, &feed_uri);
    }
  
    config.server_port += 1;
    config.ctrl_port += 1;
    Serial.printf("Starting stream server on port: '%d'\n", config.server_port);
    if (httpd_start(&stream_httpd, &config) == ESP_OK) {
      httpd_register_uri_handler(stream_httpd, &stream_uri);
    }
  }
  