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AI-on-the-edge-device/code/components/jomjol_controlcamera/ClassControllCamera.cpp
SybexXx 2772187740 Update camera bus frequency to 16 MHz 
Changed camera module bus communications frequency from 20 MHz to 16 MHz to reduce visual artifacts.
2026-01-20 23:55:51 +01:00

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#include "ClassControllCamera.h"
#include "ClassLogFile.h"
#include <stdio.h>
#include "driver/gpio.h"
#include "esp_timer.h"
#include "esp_log.h"
#include "Helper.h"
#include "statusled.h"
#include "CImageBasis.h"
#include "server_ota.h"
#include "server_GPIO.h"
#include "defines.h"
#include <esp_event.h>
#include <esp_log.h>
#include <esp_system.h>
#include <nvs_flash.h>
#include <sys/param.h>
#include <string.h>
#include <sys/stat.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_camera.h"
#include "driver/ledc.h"
#include "MainFlowControl.h"
#include "ov2640_sharpness.h"
#include "ov2640_specialEffect.h"
#include "ov2640_contrast_brightness.h"
CCamera Camera;
camera_controll_config_temp_t CCstatus;
camera_controll_config_temp_t CFstatus;
static const char *TAG = "CAM";
/* Camera live stream */
#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";
uint8_t *demoImage = NULL; // Buffer holding the demo image in bytes
#define DEMO_IMAGE_SIZE 30000 // Max size of demo image in bytes
std::vector<std::string> demoFiles;
// Camera module bus communications frequency.
// Originally: config.xclk_freq_mhz = 20000000, but this lead to visual artifacts on many modules.
// See https://github.com/espressif/esp32-camera/issues/150#issuecomment-726473652 et al.
#if !defined(XCLK_FREQ_MHZ)
int xclk = 16;
#else
int xclk = XCLK_FREQ_MHZ;
#endif
static camera_config_t camera_config = {
.pin_pwdn = CAM_PIN_PWDN,
.pin_reset = CAM_PIN_RESET,
.pin_xclk = CAM_PIN_XCLK,
.pin_sscb_sda = CAM_PIN_SIOD,
.pin_sscb_scl = CAM_PIN_SIOC,
.pin_d7 = CAM_PIN_D7,
.pin_d6 = CAM_PIN_D6,
.pin_d5 = CAM_PIN_D5,
.pin_d4 = CAM_PIN_D4,
.pin_d3 = CAM_PIN_D3,
.pin_d2 = CAM_PIN_D2,
.pin_d1 = CAM_PIN_D1,
.pin_d0 = CAM_PIN_D0,
.pin_vsync = CAM_PIN_VSYNC,
.pin_href = CAM_PIN_HREF,
.pin_pclk = CAM_PIN_PCLK,
.xclk_freq_hz = (xclk * 1000000),
.ledc_timer = CAM_XCLK_TIMER, // LEDC timer to be used for generating XCLK
.ledc_channel = CAM_XCLK_CHANNEL, // LEDC channel to be used for generating XCLK
.pixel_format = PIXFORMAT_JPEG, // YUV422,GRAYSCALE,RGB565,JPEG
.frame_size = FRAMESIZE_VGA, // QQVGA-UXGA Do not use sizes above QVGA when not JPEG
// .frame_size = FRAMESIZE_UXGA, //QQVGA-UXGA Do not use sizes above QVGA when not JPEG
.jpeg_quality = 12, // 0-63 lower number means higher quality
.fb_count = 1, // if more than one, i2s runs in continuous mode. Use only with JPEG
.fb_location = CAMERA_FB_IN_PSRAM, /*!< The location where the frame buffer will be allocated */
.grab_mode = CAMERA_GRAB_LATEST, // only from new esp32cam version
};
typedef struct
{
httpd_req_t *req;
size_t len;
} jpg_chunking_t;
CCamera::CCamera(void)
{
CCstatus.WaitBeforePicture = 2;
CamDeepSleepEnable = false;
CameraInitSuccessful = false;
changedCameraSettings = false;
CamTempImage = false;
ledc_init();
}
esp_err_t CCamera::init_camera(void)
{
ESP_LOGD(TAG, "Init Camera");
// esp_err_t err = esp_camera_deinit();
// initialize the camera
esp_err_t err = esp_camera_init(&camera_config);
if (err != ESP_OK)
{
ESP_LOGE(TAG, "Camera Init Failed");
return err;
}
Camera.CameraInitSuccessful = false;
// Get a reference to the sensor
sensor_t *cam_sensor = esp_camera_sensor_get();
if (cam_sensor != NULL)
{
Camera.CamSensorId = cam_sensor->id.PID;
// Dump camera module, warn for unsupported modules.
switch (Camera.CamSensorId)
{
case OV2640_PID:
ESP_LOGI(TAG, "OV2640 camera module detected");
Camera.CameraInitSuccessful = true;
break;
case OV3660_PID:
ESP_LOGI(TAG, "OV3660 camera module detected");
Camera.CameraInitSuccessful = true;
break;
case OV5640_PID:
ESP_LOGI(TAG, "OV5640 camera module detected");
Camera.CameraInitSuccessful = true;
break;
default:
ESP_LOGE(TAG, "Camera module is unknown and not properly supported!");
Camera.CameraInitSuccessful = false;
}
}
if (Camera.CameraInitSuccessful)
{
return ESP_OK;
}
return ESP_FAIL;
}
void CCamera::power_reset_camera(void)
{
#if CAM_PIN_PWDN == GPIO_NUM_NC // Use reset only if pin is available
LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "No power down pin availbale to reset camera");
#else
ESP_LOGD(TAG, "Resetting camera by power down line");
gpio_config_t conf;
conf.intr_type = GPIO_INTR_DISABLE;
conf.pin_bit_mask = 1LL << CAM_PIN_PWDN;
conf.mode = GPIO_MODE_OUTPUT;
conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
conf.pull_up_en = GPIO_PULLUP_DISABLE;
gpio_config(&conf);
// carefull, logic is inverted compared to reset pin
gpio_set_level(CAM_PIN_PWDN, 1);
vTaskDelay(1000 / portTICK_PERIOD_MS);
gpio_set_level(CAM_PIN_PWDN, 0);
vTaskDelay(1000 / portTICK_PERIOD_MS);
#endif
}
void CCamera::ledc_init(void)
{
// Prepare and then apply the LEDC PWM timer configuration
ledc_timer_config_t ledc_timer = {};
ledc_timer.speed_mode = LEDC_MODE;
ledc_timer.timer_num = LEDC_TIMER;
ledc_timer.duty_resolution = LEDC_DUTY_RES;
ledc_timer.freq_hz = LEDC_FREQUENCY; // Set output frequency at 5 kHz
ledc_timer.clk_cfg = LEDC_AUTO_CLK;
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
// Prepare and then apply the LEDC PWM channel configuration
ledc_channel_config_t ledc_channel = {};
ledc_channel.speed_mode = LEDC_MODE;
ledc_channel.channel = LEDC_CHANNEL;
ledc_channel.timer_sel = LEDC_TIMER;
ledc_channel.intr_type = LEDC_INTR_DISABLE;
ledc_channel.gpio_num = FLASH_GPIO;
ledc_channel.duty = 0; // Set duty to 0%
ledc_channel.hpoint = 0;
// ledc_channel.flags.output_invert = LEDC_OUTPUT_INVERT;
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
}
int CCamera::set_led_intensity(int _intrel)
{
Camera.LedIntensity = (int)((float)(std::min(std::max(0, _intrel), 100)) / 100 * 8191);
ESP_LOGD(TAG, "Set led_intensity to %i of 8191", Camera.LedIntensity);
return Camera.LedIntensity;
}
bool CCamera::get_camera_init_successful(void)
{
return Camera.CameraInitSuccessful;
}
esp_err_t CCamera::set_sensor_controll_config(camera_controll_config_temp_t *camConfig)
{
sensor_t *cam_sensor = esp_camera_sensor_get();
if (cam_sensor != NULL)
{
cam_sensor->set_xclk(cam_sensor, CAM_XCLK_TIMER, camConfig->CamXclkFreqMhz);
cam_sensor->set_framesize(cam_sensor, camConfig->ImageFrameSize);
// cam_sensor->set_contrast(cam_sensor, camConfig->ImageContrast); // -2 to 2
// cam_sensor->set_brightness(cam_sensor, camConfig->ImageBrightness); // -2 to 2
set_camera_contrast_brightness(cam_sensor, camConfig->ImageContrast, camConfig->ImageBrightness);
cam_sensor->set_saturation(cam_sensor, camConfig->ImageSaturation); // -2 to 2
cam_sensor->set_quality(cam_sensor, camConfig->ImageQuality); // 0 - 63
// cam_sensor->set_gainceiling(cam_sensor, camConfig->ImageGainceiling); // Image gain (GAINCEILING_x2, x4, x8, x16, x32, x64 or x128)
set_camera_gainceiling(cam_sensor, camConfig->ImageGainceiling);
cam_sensor->set_gain_ctrl(cam_sensor, camConfig->ImageAgc); // 0 = disable , 1 = enable
cam_sensor->set_exposure_ctrl(cam_sensor, camConfig->ImageAec); // 0 = disable , 1 = enable
cam_sensor->set_hmirror(cam_sensor, camConfig->ImageHmirror); // 0 = disable , 1 = enable
cam_sensor->set_vflip(cam_sensor, camConfig->ImageVflip); // 0 = disable , 1 = enable
cam_sensor->set_whitebal(cam_sensor, camConfig->ImageAwb); // 0 = disable , 1 = enable
cam_sensor->set_aec2(cam_sensor, camConfig->ImageAec2); // 0 = disable , 1 = enable
cam_sensor->set_aec_value(cam_sensor, camConfig->ImageAecValue); // 0 to 1200
// cam_sensor->set_special_effect(cam_sensor, camConfig->ImageSpecialEffect); // 0 to 6 (0 - No Effect, 1 - Negative, 2 - Grayscale, 3 - Red Tint, 4 - Green Tint, 5 - Blue Tint, 6 - Sepia)
set_camera_special_effect(cam_sensor, camConfig->ImageSpecialEffect);
cam_sensor->set_wb_mode(cam_sensor, camConfig->ImageWbMode); // 0 to 4 - if awb_gain enabled (0 - Auto, 1 - Sunny, 2 - Cloudy, 3 - Office, 4 - Home)
cam_sensor->set_ae_level(cam_sensor, camConfig->ImageAeLevel); // -2 to 2
cam_sensor->set_dcw(cam_sensor, camConfig->ImageDcw); // 0 = disable , 1 = enable
cam_sensor->set_bpc(cam_sensor, camConfig->ImageBpc); // 0 = disable , 1 = enable
cam_sensor->set_wpc(cam_sensor, camConfig->ImageWpc); // 0 = disable , 1 = enable
cam_sensor->set_awb_gain(cam_sensor, camConfig->ImageAwbGain); // 0 = disable , 1 = enable
cam_sensor->set_agc_gain(cam_sensor, camConfig->ImageAgcGain); // 0 to 30
cam_sensor->set_raw_gma(cam_sensor, camConfig->ImageRawGma); // 0 = disable , 1 = enable
cam_sensor->set_lenc(cam_sensor, camConfig->ImageLenc); // 0 = disable , 1 = enable
// cam_sensor->set_sharpness(cam_sensor, camConfig->ImageSharpness); // auto-sharpness is not officially supported, default to 0
set_camera_sharpness(camConfig->ImageAutoSharpness, camConfig->ImageSharpness);
cam_sensor->set_denoise(cam_sensor, camConfig->ImageDenoiseLevel); // The OV2640 does not support it, OV3660 and OV5640 (0 to 8)
vTaskDelay(100 / portTICK_PERIOD_MS);
return ESP_OK;
}
else
{
return ESP_FAIL;
}
}
esp_err_t CCamera::get_sensor_controll_config(camera_controll_config_temp_t *camConfig)
{
sensor_t *cam_sensor = esp_camera_sensor_get();
if (cam_sensor != NULL)
{
Camera.CamSensorId = cam_sensor->id.PID;
camConfig->CamXclkFreqMhz = (int)(cam_sensor->xclk_freq_hz / 1000000);
camConfig->ImageFrameSize = (framesize_t)cam_sensor->status.framesize;
camConfig->ImageContrast = cam_sensor->status.contrast;
camConfig->ImageBrightness = cam_sensor->status.brightness;
camConfig->ImageSaturation = cam_sensor->status.saturation;
camConfig->ImageQuality = cam_sensor->status.quality;
camConfig->ImageGainceiling = (gainceiling_t)cam_sensor->status.gainceiling;
camConfig->ImageAgc = cam_sensor->status.agc;
camConfig->ImageAec = cam_sensor->status.aec;
camConfig->ImageHmirror = cam_sensor->status.hmirror;
camConfig->ImageVflip = cam_sensor->status.vflip;
camConfig->ImageAwb = cam_sensor->status.awb;
camConfig->ImageAec2 = cam_sensor->status.aec2;
camConfig->ImageAecValue = cam_sensor->status.aec_value;
camConfig->ImageSpecialEffect = cam_sensor->status.special_effect;
camConfig->ImageWbMode = cam_sensor->status.wb_mode;
camConfig->ImageAeLevel = cam_sensor->status.ae_level;
camConfig->ImageDcw = cam_sensor->status.dcw;
camConfig->ImageBpc = cam_sensor->status.bpc;
camConfig->ImageWpc = cam_sensor->status.wpc;
camConfig->ImageAwbGain = cam_sensor->status.awb_gain;
camConfig->ImageAgcGain = cam_sensor->status.agc_gain;
camConfig->ImageRawGma = cam_sensor->status.raw_gma;
camConfig->ImageLenc = cam_sensor->status.lenc;
camConfig->ImageSharpness = cam_sensor->status.sharpness; // gibt -1 zurück, da es nicht unterstützt wird
camConfig->ImageDenoiseLevel = cam_sensor->status.denoise;
return ESP_OK;
}
else
{
return ESP_FAIL;
}
}
esp_err_t CCamera::set_camera_config_from_to(camera_controll_config_temp_t *camConfigFrom, camera_controll_config_temp_t *camConfigTo)
{
camConfigTo->CamXclkFreqMhz = camConfigFrom->CamXclkFreqMhz;
camConfigTo->ImageFrameSize = camConfigFrom->ImageFrameSize;
camConfigTo->ImageContrast = camConfigFrom->ImageContrast;
camConfigTo->ImageBrightness = camConfigFrom->ImageBrightness;
camConfigTo->ImageSaturation = camConfigFrom->ImageSaturation;
camConfigTo->ImageQuality = camConfigFrom->ImageQuality;
camConfigTo->ImageGainceiling = camConfigFrom->ImageGainceiling;
camConfigTo->ImageAgc = camConfigFrom->ImageAgc;
camConfigTo->ImageAec = camConfigFrom->ImageAec;
camConfigTo->ImageHmirror = camConfigFrom->ImageHmirror;
camConfigTo->ImageVflip = camConfigFrom->ImageVflip;
camConfigTo->ImageAwb = camConfigFrom->ImageAwb;
camConfigTo->ImageAec2 = camConfigFrom->ImageAec2;
camConfigTo->ImageAecValue = camConfigFrom->ImageAecValue;
camConfigTo->ImageSpecialEffect = camConfigFrom->ImageSpecialEffect;
camConfigTo->ImageWbMode = camConfigFrom->ImageWbMode;
camConfigTo->ImageAeLevel = camConfigFrom->ImageAeLevel;
camConfigTo->ImageDcw = camConfigFrom->ImageDcw;
camConfigTo->ImageBpc = camConfigFrom->ImageBpc;
camConfigTo->ImageWpc = camConfigFrom->ImageWpc;
camConfigTo->ImageAwbGain = camConfigFrom->ImageAwbGain;
camConfigTo->ImageAgcGain = camConfigFrom->ImageAgcGain;
camConfigTo->ImageRawGma = camConfigFrom->ImageRawGma;
camConfigTo->ImageLenc = camConfigFrom->ImageLenc;
camConfigTo->ImageSharpness = camConfigFrom->ImageSharpness;
camConfigTo->ImageAutoSharpness = camConfigFrom->ImageAutoSharpness;
camConfigTo->ImageDenoiseLevel = camConfigFrom->ImageDenoiseLevel;
camConfigTo->ImageLedIntensity = camConfigFrom->ImageLedIntensity;
camConfigTo->ImageZoomEnabled = camConfigFrom->ImageZoomEnabled;
camConfigTo->ImageZoomOffsetX = camConfigFrom->ImageZoomOffsetX;
camConfigTo->ImageZoomOffsetY = camConfigFrom->ImageZoomOffsetY;
camConfigTo->ImageZoomSize = camConfigFrom->ImageZoomSize;
camConfigTo->WaitBeforePicture = camConfigFrom->WaitBeforePicture;
return ESP_OK;
}
int CCamera::check_camera_settings_changed(void)
{
int ret = 0;
set_camera_deep_sleep(false);
// wenn die Kameraeinstellungen durch Erstellen eines neuen Referenzbildes verändert wurden, müssen sie neu gesetzt werden
if (Camera.changedCameraSettings)
{
if (Camera.CamTempImage)
{
Camera.set_sensor_controll_config(&CFstatus); // CFstatus >>> Kamera
Camera.set_quality_zoom_size(&CFstatus);
Camera.LedIntensity = CFstatus.ImageLedIntensity;
Camera.CamTempImage = false;
}
else
{
Camera.set_sensor_controll_config(&CCstatus); // CCstatus >>> Kamera
Camera.set_quality_zoom_size(&CCstatus);
Camera.LedIntensity = CCstatus.ImageLedIntensity;
Camera.changedCameraSettings = false;
}
}
return ret;
}
// only available on OV3660 and OV5640
// https://github.com/espressif/esp32-camera/issues/672
int CCamera::set_camera_deep_sleep(bool enable)
{
int ret = 0;
if (Camera.CamDeepSleepEnable != enable)
{
Camera.CamDeepSleepEnable = enable;
sensor_t *cam_sensor = esp_camera_sensor_get();
if (cam_sensor != NULL)
{
std::string state = "unsupported";
if (Camera.CamSensorId == OV2640_PID)
{
// OV2640 Standby mode
uint8_t reg = cam_sensor->get_reg(cam_sensor, 0x09, 0xFF);
ret = cam_sensor->set_reg(cam_sensor, 0x09, 0xFF, enable ? (reg |= 0x10) : (reg &= ~0x10));
state = enable ? "enabled" : "disabled";
}
else if ((Camera.CamSensorId == OV3660_PID) || (Camera.CamSensorId == OV5640_PID))
{
// OV3660/OV5640 DeepSleep mode
ret = cam_sensor->set_reg(cam_sensor, 0x3008, 0x42, enable ? 0x42 : 0x02);
state = enable ? "enabled" : "disabled";
}
LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "DeepSleep: " + state);
vTaskDelay(200 / portTICK_PERIOD_MS);
}
else
{
return -1;
}
}
return ret;
}
// on the OV5640, gainceiling must be set with the real value (x2>>>gainceilingLevel = 2, .... x128>>>gainceilingLevel = 128)
int CCamera::set_camera_gainceiling(sensor_t *cam_sensor, gainceiling_t gainceilingLevel)
{
int ret = 0;
if (Camera.CamSensorId == OV2640_PID)
{
ret = cam_sensor->set_gainceiling(cam_sensor, gainceilingLevel); // Image gain (GAINCEILING_x2, x4, x8, x16, x32, x64 or x128)
}
else
{
int _level = (1 << ((int)gainceilingLevel + 1));
ret = cam_sensor->set_reg(cam_sensor, 0x3A18, 0xFF, (_level >> 8) & 3) || cam_sensor->set_reg(cam_sensor, 0x3A19, 0xFF, _level & 0xFF);
if (ret == 0)
{
// ESP_LOGD(TAG, "Set gainceiling to: %d", gainceilingLevel);
cam_sensor->status.gainceiling = gainceilingLevel;
}
}
return ret;
}
void CCamera::set_camera_sharpness(bool autoSharpnessEnabled, int sharpnessLevel)
{
sensor_t *cam_sensor = esp_camera_sensor_get();
if (cam_sensor != NULL)
{
if (Camera.CamSensorId == OV2640_PID)
{
sharpnessLevel = min(2, max(-2, sharpnessLevel));
// The OV2640 does not officially support sharpness, so the detour is made with the ov2640_sharpness.cpp.
if (autoSharpnessEnabled)
{
ov2640_enable_auto_sharpness(cam_sensor);
}
else
{
ov2640_set_sharpness(cam_sensor, sharpnessLevel);
}
}
else
{
sharpnessLevel = min(3, max(-3, sharpnessLevel));
// for CAMERA_OV5640 and CAMERA_OV3660
if (autoSharpnessEnabled)
{
// autoSharpness is not supported, default to zero
cam_sensor->set_sharpness(cam_sensor, 0);
}
else
{
cam_sensor->set_sharpness(cam_sensor, sharpnessLevel);
}
}
}
else
{
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "SetCamSharpness, Failed to get Cam control structure");
}
}
void CCamera::set_camera_special_effect(sensor_t *cam_sensor, int specialEffect)
{
if (Camera.CamSensorId == OV2640_PID)
{
ov2640_set_special_effect(cam_sensor, specialEffect);
}
else
{
cam_sensor->set_special_effect(cam_sensor, specialEffect);
}
}
void CCamera::set_camera_contrast_brightness(sensor_t *cam_sensor, int _contrast, int _brightness)
{
if (Camera.CamSensorId == OV2640_PID)
{
ov2640_set_contrast_brightness(cam_sensor, _contrast, _brightness);
}
else
{
cam_sensor->set_contrast(cam_sensor, _contrast); // -2 to 2
cam_sensor->set_brightness(cam_sensor, _brightness); // -2 to 2
}
}
// - It always zooms to the image center when offsets are zero
// - if imageSize = 0 then the image is not zoomed
// - if imageSize = max value, then the image is fully zoomed in
// - a zoom step is >>> Width + 32 px / Height + 24 px
void CCamera::sanitize_zoom_params(camera_controll_config_temp_t *camConfig, int imageSize, int frameSizeX, int frameSizeY, int &imageWidth, int &imageHeight, int &zoomOffsetX, int &zoomOffsetY)
{
// for OV2640, This works only if the aspect ratio of 4:3 is preserved in the window size.
// use only values divisible by 8 without remainder
imageWidth = camConfig->ImageWidth + (imageSize * 4 * 8);
imageHeight = camConfig->ImageHeight + (imageSize * 3 * 8);
int _maxX = frameSizeX - imageWidth;
int _maxY = frameSizeY - imageHeight;
if ((abs(zoomOffsetX) * 2) > _maxX)
{
if (zoomOffsetX > 0)
{
zoomOffsetX = _maxX;
}
else
{
zoomOffsetX = 0;
}
}
else
{
if (zoomOffsetX > 0)
{
zoomOffsetX = ((_maxX / 2) + zoomOffsetX);
}
else
{
zoomOffsetX = ((_maxX / 2) + zoomOffsetX);
}
}
if ((abs(zoomOffsetY) * 2) > _maxY)
{
if (zoomOffsetY > 0)
{
zoomOffsetY = _maxY;
}
else
{
zoomOffsetY = 0;
}
}
else
{
if (zoomOffsetY > 0)
{
zoomOffsetY = ((_maxY / 2) + zoomOffsetY);
}
else
{
zoomOffsetY = ((_maxY / 2) + zoomOffsetY);
}
}
}
void CCamera::set_zoom_size(camera_controll_config_temp_t *camConfig)
{
sensor_t *cam_sensor = esp_camera_sensor_get();
if (cam_sensor != NULL)
{
if (camConfig->ImageZoomEnabled)
{
int _imageSize_temp = 0;
int _imageWidth = camConfig->ImageWidth;
int _imageHeight = camConfig->ImageHeight;
int _offsetx = camConfig->ImageZoomOffsetX;
int _offsety = camConfig->ImageZoomOffsetY;
int frameSizeX;
int frameSizeY;
switch (Camera.CamSensorId)
{
case OV5640_PID:
frameSizeX = 2592;
frameSizeY = 1944;
// max imageSize = ((frameSizeX - camConfig->ImageWidth) / 8 / 4) - 1
// 59 = ((2560 - 640) / 8 / 4) - 1
if (camConfig->ImageZoomSize < 59)
{
_imageSize_temp = (59 - camConfig->ImageZoomSize);
}
sanitize_zoom_params(camConfig, _imageSize_temp, frameSizeX, frameSizeY, _imageWidth, _imageHeight, _offsetx, _offsety);
set_camera_window(cam_sensor, frameSizeX, frameSizeY, _offsetx, _offsety, _imageWidth, _imageHeight, camConfig->ImageWidth, camConfig->ImageHeight, camConfig->ImageVflip);
break;
case OV3660_PID:
frameSizeX = 2048;
frameSizeY = 1536;
// max imageSize = ((frameSizeX - camConfig->ImageWidth) / 8 / 4) -1
// 43 = ((2048 - 640) / 8 / 4) - 1
if (camConfig->ImageZoomSize < 43)
{
_imageSize_temp = (43 - camConfig->ImageZoomSize);
}
sanitize_zoom_params(camConfig, _imageSize_temp, frameSizeX, frameSizeY, _imageWidth, _imageHeight, _offsetx, _offsety);
set_camera_window(cam_sensor, frameSizeX, frameSizeY, _offsetx, _offsety, _imageWidth, _imageHeight, camConfig->ImageWidth, camConfig->ImageHeight, camConfig->ImageVflip);
break;
case OV2640_PID:
frameSizeX = 1600;
frameSizeY = 1200;
// max imageSize = ((frameSizeX - camConfig->ImageWidth) / 8 / 4) -1
// 29 = ((1600 - 640) / 8 / 4) - 1
if (camConfig->ImageZoomSize < 29)
{
_imageSize_temp = (29 - camConfig->ImageZoomSize);
}
sanitize_zoom_params(camConfig, _imageSize_temp, frameSizeX, frameSizeY, _imageWidth, _imageHeight, _offsetx, _offsety);
set_camera_window(cam_sensor, frameSizeX, frameSizeY, _offsetx, _offsety, _imageWidth, _imageHeight, camConfig->ImageWidth, camConfig->ImageHeight, camConfig->ImageVflip);
break;
default:
// do nothing
break;
}
}
else
{
cam_sensor->set_framesize(cam_sensor, camConfig->ImageFrameSize);
}
}
}
void CCamera::set_quality_zoom_size(camera_controll_config_temp_t *camConfig)
{
sensor_t *cam_sensor = esp_camera_sensor_get();
// OV2640 has no lower limit on jpeg quality
if (Camera.CamSensorId == OV5640_PID)
{
camConfig->ImageQuality = min(63, max(8, camConfig->ImageQuality));
}
set_image_width_height_from_resolution(camConfig->ImageFrameSize);
if (cam_sensor != NULL)
{
cam_sensor->set_quality(cam_sensor, camConfig->ImageQuality);
set_zoom_size(camConfig);
}
else
{
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "SetQualityZoomSize, Failed to get Cam control structure");
}
}
void CCamera::set_camera_window(sensor_t *cam_sensor, int frameSizeX, int frameSizeY, int xOffset, int yOffset, int xTotal, int yTotal, int xOutput, int yOutput, int imageVflip)
{
if (Camera.CamSensorId == OV2640_PID)
{
cam_sensor->set_res_raw(cam_sensor, 0, 0, 0, 0, xOffset, yOffset, xTotal, yTotal, xOutput, yOutput, false, false);
}
else
{
// for CAMERA_OV5640 and CAMERA_OV3660
bool scale = !(xOutput == xTotal && yOutput == yTotal);
bool binning = (xTotal >= (frameSizeX >> 1));
if (imageVflip == true)
{
cam_sensor->set_res_raw(cam_sensor, xOffset, yOffset, xOffset + xTotal - 1, yOffset + yTotal - 1, 0, 0, frameSizeX, frameSizeY, xOutput, yOutput, scale, binning);
}
else
{
cam_sensor->set_res_raw(cam_sensor, xOffset, yOffset, xOffset + xTotal, yOffset + yTotal, 0, 0, frameSizeX, frameSizeY, xOutput, yOutput, scale, binning);
}
}
}
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;
}
esp_err_t CCamera::capture_to_basis_image(CImageBasis *_Image, int flash_duration)
{
Camera.check_camera_settings_changed();
_Image->EmptyImage(); // Delete previous stored raw image -> black image
set_blink_led_on_off(true); // Status-LED on
if (flash_duration > 0)
{
CaptureToBasisImageLed = true;
set_flash_light_on_off(true); // Flash-LED on
const TickType_t xDelay = flash_duration / portTICK_PERIOD_MS;
vTaskDelay(xDelay);
}
camera_fb_t *fb = esp_camera_fb_get();
esp_camera_fb_return(fb);
fb = esp_camera_fb_get();
if (!fb)
{
CaptureToBasisImageLed = false;
if (!CaptureToFileLed && !CaptureToHTTPLed && !CaptureToStreamLed)
{
set_blink_led_on_off(false); // Status-LED off
set_camera_deep_sleep(true);
if (flash_duration > 0)
{
set_flash_light_on_off(false); // Flash-LED off
}
}
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "is not working anymore (CaptureToBasisImage) - most probably caused "
"by a hardware problem (instablility, ...). System will reboot.");
return ESP_FAIL;
}
if (Camera.DemoMode)
{
// Use images stored on SD-Card instead of camera image
/* Replace Framebuffer with image from SD-Card */
load_next_demo_image(fb);
}
CImageBasis *_TempImage = new CImageBasis("TempImage");
if (_TempImage)
{
_TempImage->LoadFromMemory(fb->buf, fb->len);
}
else
{
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "CaptureToBasisImage: Can't allocate TempImage");
}
esp_camera_fb_return(fb);
CaptureToBasisImageLed = false;
if (!CaptureToFileLed && !CaptureToHTTPLed && !CaptureToStreamLed)
{
set_blink_led_on_off(false); // Status-LED off
set_camera_deep_sleep(true);
if (flash_duration > 0)
{
set_flash_light_on_off(false); // Flash-LED off
}
}
if (_TempImage == NULL)
{
return ESP_OK;
}
int channels = 3;
int width = CCstatus.ImageWidth;
int height = CCstatus.ImageHeight;
if (Camera.CamTempImage)
{
width = CFstatus.ImageWidth;
height = CFstatus.ImageHeight;
}
for (int x = 0; x < width; ++x)
{
for (int y = 0; y < height; ++y)
{
stbi_uc *p_target = _Image->rgb_image + (channels * (y * width + x));
stbi_uc *p_source = _TempImage->rgb_image + (channels * (y * width + x));
for (int c = 0; c < channels; c++)
{
p_target[c] = p_source[c];
}
}
}
delete _TempImage;
return ESP_OK;
}
esp_err_t CCamera::capture_to_file(std::string file_name, int flash_duration)
{
Camera.check_camera_settings_changed();
int _ImageQuality = CCstatus.ImageQuality;
if (Camera.CamTempImage)
{
_ImageQuality = CFstatus.ImageQuality;
}
set_blink_led_on_off(true); // Status-LED on
if (flash_duration > 0)
{
CaptureToFileLed = true;
set_flash_light_on_off(true); // Flash-LED on
const TickType_t xDelay = flash_duration / portTICK_PERIOD_MS;
vTaskDelay(xDelay);
}
camera_fb_t *fb = esp_camera_fb_get();
esp_camera_fb_return(fb);
fb = esp_camera_fb_get();
if (!fb)
{
CaptureToFileLed = false;
if (!CaptureToBasisImageLed && !CaptureToHTTPLed && !CaptureToStreamLed)
{
set_blink_led_on_off(false); // Status-LED off
set_camera_deep_sleep(true);
if (flash_duration > 0)
{
set_flash_light_on_off(false); // Flash-LED off
}
}
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "CaptureToFile: Capture Failed. "
"Check camera module and/or proper electrical connection");
return ESP_FAIL;
}
file_name = format_filename(file_name);
std::string ftype = to_upper(get_file_type(file_name));
uint8_t *buf = NULL;
size_t buf_len = 0;
bool converted = false;
if (ftype.compare("BMP") == 0)
{
frame2bmp(fb, &buf, &buf_len);
converted = true;
}
if (ftype.compare("JPG") == 0)
{
if (fb->format != PIXFORMAT_JPEG)
{
bool jpeg_converted = frame2jpg(fb, (100 - _ImageQuality), &buf, &buf_len);
converted = true;
if (!jpeg_converted)
{
ESP_LOGE(TAG, "JPEG compression failed");
}
}
else
{
buf_len = fb->len;
buf = fb->buf;
}
}
FILE *fp = fopen(file_name.c_str(), "wb");
if (fp == NULL)
{
// If an error occurs during the file creation
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "CaptureToFile: Failed to open file " + file_name);
}
else
{
fwrite(buf, sizeof(uint8_t), buf_len, fp);
fclose(fp);
}
if (converted)
{
free(buf);
}
esp_camera_fb_return(fb);
CaptureToFileLed = false;
if (!CaptureToBasisImageLed && !CaptureToHTTPLed && !CaptureToStreamLed)
{
set_blink_led_on_off(false); // Status-LED off
set_camera_deep_sleep(true);
if (flash_duration > 0)
{
set_flash_light_on_off(false); // Flash-LED off
}
}
return ESP_OK;
}
esp_err_t CCamera::capture_to_http(httpd_req_t *req, int flash_duration)
{
esp_err_t res = ESP_OK;
size_t fb_len = 0;
int64_t fr_start = esp_timer_get_time();
Camera.check_camera_settings_changed();
set_blink_led_on_off(true); // Status-LED on
if (flash_duration > 0)
{
CaptureToHTTPLed = true;
set_flash_light_on_off(true); // Flash-LED on
const TickType_t xDelay = flash_duration / portTICK_PERIOD_MS;
vTaskDelay(xDelay);
}
camera_fb_t *fb = esp_camera_fb_get();
esp_camera_fb_return(fb);
fb = esp_camera_fb_get();
if (!fb)
{
CaptureToHTTPLed = false;
if (!CaptureToBasisImageLed && !CaptureToFileLed && !CaptureToStreamLed)
{
set_blink_led_on_off(false); // Status-LED off
set_camera_deep_sleep(true);
if (flash_duration > 0)
{
set_flash_light_on_off(false); // Flash-LED off
}
}
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "CaptureToFile: Capture Failed. "
"Check camera module and/or proper electrical connection");
httpd_resp_send_500(req);
return ESP_FAIL;
}
res = httpd_resp_set_type(req, "image/jpeg");
if (res == ESP_OK)
{
res = httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=raw.jpg");
}
if (res == ESP_OK)
{
if (Camera.DemoMode)
{
// Use images stored on SD-Card instead of camera image
LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "Using Demo image!");
/* Replace Framebuffer with image from SD-Card */
load_next_demo_image(fb);
res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
}
else
{
if (fb->format == PIXFORMAT_JPEG)
{
fb_len = fb->len;
res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
}
else
{
int _ImageQuality = CCstatus.ImageQuality;
if (Camera.CamTempImage)
{
_ImageQuality = CFstatus.ImageQuality;
}
jpg_chunking_t jchunk = {req, 0};
res = frame2jpg_cb(fb, (100 - _ImageQuality), jpg_encode_stream, &jchunk) ? ESP_OK : ESP_FAIL;
httpd_resp_send_chunk(req, NULL, 0);
fb_len = jchunk.len;
}
}
}
esp_camera_fb_return(fb);
CaptureToHTTPLed = false;
if (!CaptureToBasisImageLed && !CaptureToFileLed && !CaptureToStreamLed)
{
set_blink_led_on_off(false); // Status-LED off
set_camera_deep_sleep(true);
if (flash_duration > 0)
{
set_flash_light_on_off(false); // Flash-LED off
}
}
int64_t fr_end = esp_timer_get_time();
ESP_LOGI(TAG, "JPG: %dKB %dms", (int)(fb_len / 1024), (int)((fr_end - fr_start) / 1000));
return res;
}
esp_err_t CCamera::capture_to_stream(httpd_req_t *req, bool FlashlightOn)
{
esp_err_t res = ESP_OK;
Camera.check_camera_settings_changed();
LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Live stream started");
set_blink_led_on_off(true); // Status-LED on
if (FlashlightOn)
{
CaptureToStreamLed = true;
set_flash_light_on_off(true); // Flash-LED on
}
httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
while (1)
{
int64_t fr_start = esp_timer_get_time();
camera_fb_t *fb = esp_camera_fb_get();
esp_camera_fb_return(fb);
fb = esp_camera_fb_get();
if (!fb)
{
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "CaptureToStream: Camera framebuffer not available");
break;
}
size_t fb_len = fb->len;
if (res == ESP_OK)
{
char *part_buf[64];
size_t hlen = snprintf((char *)part_buf, sizeof(part_buf), _STREAM_PART, fb_len);
res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
}
if (res == ESP_OK)
{
res = httpd_resp_send_chunk(req, (const char *)fb->buf, fb_len);
}
if (res == ESP_OK)
{
res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
}
esp_camera_fb_return(fb);
int64_t fr_end = esp_timer_get_time();
ESP_LOGD(TAG, "JPG: %dKB %dms", (int)(fb_len / 1024), (int)((fr_end - fr_start) / 1000));
if (res != ESP_OK)
{
// Exit loop, e.g. also when closing the webpage
break;
}
int64_t fr_delta_ms = (fr_end - fr_start) / 1000;
if (CAM_LIVESTREAM_REFRESHRATE > fr_delta_ms)
{
const TickType_t xDelay = (CAM_LIVESTREAM_REFRESHRATE - fr_delta_ms) / portTICK_PERIOD_MS;
ESP_LOGD(TAG, "Stream: sleep for: %ldms", (long)xDelay * 10);
vTaskDelay(xDelay);
}
}
CaptureToStreamLed = false;
if (!CaptureToBasisImageLed && !CaptureToFileLed && !CaptureToHTTPLed)
{
set_blink_led_on_off(false); // Status-LED off
set_camera_deep_sleep(true);
if (FlashlightOn)
{
set_flash_light_on_off(false); // Flash-LED off
}
}
LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Live stream stopped");
return res;
}
void CCamera::set_flash_light_on_off(bool status)
{
GpioHandler *gpioHandler = gpio_handler_get();
if ((gpioHandler != NULL) && (gpioHandler->isEnabled()))
{
ESP_LOGD(TAG, "Use gpioHandler to trigger flashlight");
gpioHandler->flashLightEnable(status);
}
else
{
if (FLASH_MODE == GPIO_PIN_MODE_BUILTIN_FLASH_PWM)
{
if (status)
{
ESP_LOGD(TAG, "Internal Flash-LED turn on with PWM %d", Camera.LedIntensity);
ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, Camera.LedIntensity));
// Update duty to apply the new value
ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
}
else
{
ESP_LOGD(TAG, "Internal Flash-LED turn off PWM");
ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, 0));
ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
}
}
else
{
// Init the GPIO
gpio_pad_select_gpio(FLASH_GPIO);
// Set the GPIO as a push/pull output
gpio_set_direction(FLASH_GPIO, GPIO_MODE_OUTPUT);
if (status)
{
gpio_set_level(FLASH_GPIO, 1);
}
else
{
gpio_set_level(FLASH_GPIO, 0);
}
}
}
}
void CCamera::set_blink_led_on_off(bool status)
{
if (xHandle_task_StatusLED == NULL)
{
// Init the GPIO
gpio_pad_select_gpio(BLINK_GPIO);
/* Set the GPIO as a push/pull output */
gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
if (!status)
{
gpio_set_level(BLINK_GPIO, 1);
}
else
{
gpio_set_level(BLINK_GPIO, 0);
}
}
}
void CCamera::set_image_width_height_from_resolution(framesize_t resol)
{
if (resol == FRAMESIZE_QVGA)
{
CCstatus.ImageWidth = 320;
CCstatus.ImageHeight = 240;
}
else if (resol == FRAMESIZE_VGA)
{
CCstatus.ImageWidth = 640;
CCstatus.ImageHeight = 480;
}
else if (resol == FRAMESIZE_SVGA)
{
CCstatus.ImageWidth = 800;
CCstatus.ImageHeight = 600;
}
else if (resol == FRAMESIZE_XGA)
{
CCstatus.ImageWidth = 1024;
CCstatus.ImageHeight = 768;
}
else if (resol == FRAMESIZE_HD)
{
CCstatus.ImageWidth = 1280;
CCstatus.ImageHeight = 720;
}
else if (resol == FRAMESIZE_SXGA)
{
CCstatus.ImageWidth = 1280;
CCstatus.ImageHeight = 1024;
}
else if (resol == FRAMESIZE_UXGA)
{
CCstatus.ImageWidth = 1600;
CCstatus.ImageHeight = 1200;
}
else if (resol == FRAMESIZE_QXGA)
{
CCstatus.ImageWidth = 2048;
CCstatus.ImageHeight = 1536;
}
else if (resol == FRAMESIZE_WQXGA)
{
CCstatus.ImageWidth = 2560;
CCstatus.ImageHeight = 1600;
}
else if (resol == FRAMESIZE_QSXGA)
{
CCstatus.ImageWidth = 2560;
CCstatus.ImageHeight = 1920;
}
else
{
CCstatus.ImageWidth = 640;
CCstatus.ImageHeight = 480;
}
}
framesize_t CCamera::text_to_framesize(const char *_size)
{
if (strcmp(_size, "QVGA") == 0)
{
return FRAMESIZE_QVGA; // 320x240
}
else if (strcmp(_size, "VGA") == 0)
{
return FRAMESIZE_VGA; // 640x480
}
else if (strcmp(_size, "SVGA") == 0)
{
return FRAMESIZE_SVGA; // 800x600
}
else if (strcmp(_size, "XGA") == 0)
{
return FRAMESIZE_XGA; // 1024x768
}
else if (strcmp(_size, "SXGA") == 0)
{
return FRAMESIZE_SXGA; // 1280x1024
}
else if (strcmp(_size, "UXGA") == 0)
{
return FRAMESIZE_UXGA; // 1600x1200
}
else if (strcmp(_size, "QXGA") == 0)
{
return FRAMESIZE_QXGA; // 2048x1536
}
else if (strcmp(_size, "WQXGA") == 0)
{
return FRAMESIZE_WQXGA; // 2560x1600
}
else if (strcmp(_size, "QSXGA") == 0)
{
return FRAMESIZE_QSXGA; // 2560x1920
}
else
{
return FRAMESIZE_VGA; // 640x480
}
// return CCstatus.ImageFrameSize;
}
void CCamera::use_demo_mode(void)
{
char line[50];
FILE *fd = fopen("/sdcard/demo/files.txt", "r");
if (!fd)
{
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Can not start Demo mode, the folder '/sdcard/demo/' does not contain the needed files!");
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "See Details on https://jomjol.github.io/AI-on-the-edge-device-docs/Demo-Mode!");
return;
}
demoImage = (uint8_t *)malloc(DEMO_IMAGE_SIZE);
if (demoImage == NULL)
{
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Unable to acquire required memory for demo image!");
return;
}
while (fgets(line, sizeof(line), fd) != NULL)
{
line[strlen(line) - 1] = '\0';
demoFiles.push_back(line);
}
fclose(fd);
LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Using Demo mode (" + std::to_string(demoFiles.size()) + " files) instead of real camera image!");
for (auto file : demoFiles)
{
LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, file);
}
Camera.DemoMode = true;
}
bool CCamera::load_next_demo_image(camera_fb_t *fb)
{
char filename[50];
int readBytes;
long fileSize;
snprintf(filename, sizeof(filename), "/sdcard/demo/%s", demoFiles[getCountFlowRounds() % demoFiles.size()].c_str());
LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "Using " + std::string(filename) + " as demo image");
/* Inject saved image */
FILE *fp = fopen(filename, "rb");
if (!fp)
{
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Failed to read file: " + std::string(filename) + "!");
return false;
}
fileSize = get_file_size(filename);
if (fileSize > DEMO_IMAGE_SIZE)
{
char buf[100];
snprintf(buf, sizeof(buf), "Demo Image (%d bytes) is larger than provided buffer (%d bytes)!", (int)fileSize, DEMO_IMAGE_SIZE);
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, std::string(buf));
return false;
}
readBytes = fread(demoImage, 1, DEMO_IMAGE_SIZE, fp);
LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "read " + std::to_string(readBytes) + " bytes");
fclose(fp);
fb->buf = demoImage; // Update pointer
fb->len = readBytes;
// ToDo do we also need to set height, width, format and timestamp?
return true;
}
long CCamera::get_file_size(std::string filename)
{
struct stat stat_buf;
long rc = stat(filename.c_str(), &stat_buf);
return rc == 0 ? stat_buf.st_size : -1;
}
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