esp32-mjpeg-multiclient-espcam-drivers/esp32-cam-rtos

ESP32 Camera Driver

General Information

This repository hosts ESP32, ESP32-S2 and ESP32-S3 compatible driver for OV2640, OV3660, OV5640, OV7670 and OV7725 image sensors. Additionally it provides a few tools, which allow converting the captured frame data to the more common BMP and JPEG formats.

Important to Remember

• Except when using CIF or lower resolution with JPEG, the driver requires PSRAM to be installed and activated.
• Using YUV or RGB puts a lot of strain on the chip because writing to PSRAM is not particularly fast. The result is that image data might be missing. This is particularly true if WiFi is enabled. If you need RGB data, it is recommended that JPEG is captured and then turned into RGB using fmt2rgb888 or fmt2bmp/frame2bmp.
• When 1 frame buffer is used, the driver will wait for the current frame to finish (VSYNC) and start I2S DMA. After the frame is acquired, I2S will be stopped and the frame buffer returned to the application. This approach gives more control over the system, but results in longer time to get the frame.
• When 2 or more frame bufers are used, I2S is running in continuous mode and each frame is pushed to a queue that the application can access. This approach puts more strain on the CPU/Memory, but allows for double the frame rate. Please use only with JPEG.

Installation Instructions

Using esp-idf

• Clone or download and extract the repository to the components folder of your ESP-IDF project
• Enable PSRAM in menuconfig (also set Flash and PSRAM frequiencies to 80MHz)
• Include esp_camera.h in your code

Using PlatformIO

The easy way -- on the env section of platformio.ini, add the following:

[env]
lib_deps =
  esp32-camera

Now the esp_camera.h is available to be included:

#include "esp_camera.h"

Enable PSRAM on menuconfig or type it direclty on sdkconfig. Check the official doc for more info.

CONFIG_ESP32_SPIRAM_SUPPORT=y

Arduino The easy-way (content above) only seems to work if you're using framework=arduino which seems to take a bunch of the guesswork out (thanks Arduino!) but also suck up a lot more memory and flash, almost crippling the performance. If you plan to use the framework=espidf then read the sections below carefully!!

Platform.io lib/submodule (for framework=espidf)

It's probably easier to just skip the platform.io library registry version and link the git repo as a submodule. (i.e. using code outside the platform.io library management). In this example we will install this as a submodule inside the platform.io $project/lib folder:

cd $project\lib
git submodule add -b master https://github.com/espressif/esp32-camera.git

Then in platformio.ini file

build_flags =
   -I../lib/esp32-camera

After that #include "esp_camera.h" statement will be available. Now the module is included, and you're hopefully back to the same place as the easy-Arduino way.

Warning about platform.io/espidf and fresh (not initialized) git repos There is a sharp-edge on you'll discover in the platform.io build process (in espidf v3.3 & 4.0.1) where a project which has only had git init but nothing committed will crash platform.io build process with highly non-useful output. The cause is due to lack of a version (making you think you did something wrong, when you didn't at all) - the output is horribly non-descript. Solution: the devs want you to create a file called version.txt with a number in it, or simply commit any file to the projects git repo and use git. This happens because platform.io build process tries to be too clever and determine the build version number from the git repo - it's a sharp edge you'll only encounter if you're experimenting on a new project with no commits .. like wtf is my camera not working let's try a 'clean project'?!

Platform.io Kconfig

Kconfig is used by the platform.io menuconfig (accessed by running: pio run -t menuconfig) to interactively manage the various #ifdef statements throughout the espidf and supporting libraries (i.e. this repo: esp32-camera and arduino-esp32.git). The menuconfig process generates the sdkconfig file which is ultimately used behind the scenes by espidf compile+build process.

Make sure to append or symlink this Kconfig content into the Kconfig of your project.

You symlink (or copy) the included Kconfig into your platform.io projects src directory. The file should be named Kconfig.projbuild in your projects src\ directory or you could also add the library path to a CMakefile.txt and hope the Kconfig (or Kconfig.projbuild) gets discovered by the menuconfig process, though this unpredictable for me.

The unpredictable wonky behavior in platform.io build process around Kconfig naming (Kconfig vs. Kconfig.projbuild) occurs between espidf versions 3.3 and 4.0 - but if you don't see "Camera configuration" in your pio run -t menuconfig then there is no point trying to test camera code (it may compile, but it probably won't work!) and it seems the platform.io devs (when they built their wrapper around the espidf menuconfig) didn't implement it properly. You've probably already figured out you can't use the espidf build tools since the files are in totally different locations and also different versions with sometimes different syntax. This is one of those times you might consider changing the platformio.ini from platform=espressif32 to platform=https://github.com/platformio/platform-espressif32.git#develop to get a more recent version of the espidf 4.0 tools.

However with a bit of patience and experimenting you'll figure the Kconfig out. Once Kconfig (or Kconfig.projbuild) is working then you will be able to choose the configurations according to your setup or the camera libraries will be compiled. Although you might also need to delete your .pio/build directory before the options appear .. again, the pio run -t menuconfig doens't always notice the new Kconfig files!

If you miss-skip-ignore this critical step the camera module will compile but camera logic inside the library will be 'empty' because the Kconfig sets the proper #ifdef statements during the build process to initialize the selected cameras. It's very not optional!

Kconfig options

config	description	default
CONFIG_OV2640_SUPPORT	Support for OV2640 camera	enabled
CONFIG_OV7725_SUPPORT	Support for OV7725 camera	disabled
CONFIG_OV3660_SUPPORT	Support for OV3660 camera	enabled
CONFIG_OV5640_SUPPORT	Support for OV5640 camera	enabled
CONFIG_SCCB_HARDWARE_I2C	Enable this option if you want to use hardware I2C to control the camera. Disable this option to use software I2C.	enabled
CONFIG_SCCB_HARDWARE_I2C_PORT	I2C peripheral to use for SCCB. Can be I2C0 and I2C1.	CONFIG_SCCB_HARDWARE_I2C_PORT1
CONFIG_CAMERA_TASK_PINNED_TO_CORE	Pin the camera handle task to a certain core(0/1). It can also be done automatically choosing NO_AFFINITY. Can be CAMERA_CORE0, CAMERA_CORE1 or NO_AFFINITY.	CONFIG_CAMERA_CORE0

Examples

Initialization

#include "esp_camera.h"

//WROVER-KIT PIN Map
#define CAM_PIN_PWDN    -1 //power down is not used
#define CAM_PIN_RESET   -1 //software reset will be performed
#define CAM_PIN_XCLK    21
#define CAM_PIN_SIOD    26
#define CAM_PIN_SIOC    27

#define CAM_PIN_D7      35
#define CAM_PIN_D6      34
#define CAM_PIN_D5      39
#define CAM_PIN_D4      36
#define CAM_PIN_D3      19
#define CAM_PIN_D2      18
#define CAM_PIN_D1       5
#define CAM_PIN_D0       4
#define CAM_PIN_VSYNC   25
#define CAM_PIN_HREF    23
#define CAM_PIN_PCLK    22

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 = 20000000,//EXPERIMENTAL: Set to 16MHz on ESP32-S2 or ESP32-S3 to enable EDMA mode
    .ledc_timer = LEDC_TIMER_0,
    .ledc_channel = LEDC_CHANNEL_0,

    .pixel_format = PIXFORMAT_JPEG,//YUV422,GRAYSCALE,RGB565,JPEG
    .frame_size = FRAMESIZE_UXGA,//QQVGA-QXGA 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
    .grab_mode = CAMERA_GRAB_WHEN_EMPTY//CAMERA_GRAB_LATEST. Sets when buffers should be filled
};

esp_err_t camera_init(){
    //power up the camera if PWDN pin is defined
    if(CAM_PIN_PWDN != -1){
        pinMode(CAM_PIN_PWDN, OUTPUT);
        digitalWrite(CAM_PIN_PWDN, LOW);
    }

    //initialize the camera
    esp_err_t err = esp_camera_init(&camera_config);
    if (err != ESP_OK) {
        ESP_LOGE(TAG, "Camera Init Failed");
        return err;
    }

    return ESP_OK;
}

esp_err_t camera_capture(){
    //acquire a frame
    camera_fb_t * fb = esp_camera_fb_get();
    if (!fb) {
        ESP_LOGE(TAG, "Camera Capture Failed");
        return ESP_FAIL;
    }
    //replace this with your own function
    process_image(fb->width, fb->height, fb->format, fb->buf, fb->len);
  
    //return the frame buffer back to the driver for reuse
    esp_camera_fb_return(fb);
    return ESP_OK;
}

JPEG HTTP Capture

#include "esp_camera.h"
#include "esp_http_server.h"
#include "esp_timer.h"

typedef struct {
        httpd_req_t *req;
        size_t len;
} jpg_chunking_t;

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 jpg_httpd_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    size_t fb_len = 0;
    int64_t fr_start = esp_timer_get_time();

    fb = esp_camera_fb_get();
    if (!fb) {
        ESP_LOGE(TAG, "Camera capture failed");
        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=capture.jpg");
    }

    if(res == ESP_OK){
        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();
    ESP_LOGI(TAG, "JPG: %uKB %ums", (uint32_t)(fb_len/1024), (uint32_t)((fr_end - fr_start)/1000));
    return res;
}

JPEG HTTP Stream

#include "esp_camera.h"
#include "esp_http_server.h"
#include "esp_timer.h"

#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";

esp_err_t jpg_stream_httpd_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    size_t _jpg_buf_len;
    uint8_t * _jpg_buf;
    char * part_buf[64];
    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;
    }

    while(true){
        fb = esp_camera_fb_get();
        if (!fb) {
            ESP_LOGE(TAG, "Camera capture failed");
            res = ESP_FAIL;
            break;
        }
        if(fb->format != PIXFORMAT_JPEG){
            bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
            if(!jpeg_converted){
                ESP_LOGE(TAG, "JPEG compression failed");
                esp_camera_fb_return(fb);
                res = ESP_FAIL;
            }
        } else {
            _jpg_buf_len = fb->len;
            _jpg_buf = fb->buf;
        }

        if(res == ESP_OK){
            res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
        }
        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(fb->format != PIXFORMAT_JPEG){
            free(_jpg_buf);
        }
        esp_camera_fb_return(fb);
        if(res != ESP_OK){
            break;
        }
        int64_t fr_end = esp_timer_get_time();
        int64_t frame_time = fr_end - last_frame;
        last_frame = fr_end;
        frame_time /= 1000;
        ESP_LOGI(TAG, "MJPG: %uKB %ums (%.1ffps)",
            (uint32_t)(_jpg_buf_len/1024),
            (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time);
    }

    last_frame = 0;
    return res;
}

BMP HTTP Capture

#include "esp_camera.h"
#include "esp_http_server.h"
#include "esp_timer.h"

esp_err_t bmp_httpd_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) {
        ESP_LOGE(TAG, "Camera capture failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    uint8_t * buf = NULL;
    size_t buf_len = 0;
    bool converted = frame2bmp(fb, &buf, &buf_len);
    esp_camera_fb_return(fb);
    if(!converted){
        ESP_LOGE(TAG, "BMP conversion failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    res = httpd_resp_set_type(req, "image/x-windows-bmp")
       || httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.bmp")
       || httpd_resp_send(req, (const char *)buf, buf_len);
    free(buf);
    int64_t fr_end = esp_timer_get_time();
    ESP_LOGI(TAG, "BMP: %uKB %ums", (uint32_t)(buf_len/1024), (uint32_t)((fr_end - fr_start)/1000));
    return res;
}