OpenIris/ESP/lib/src/io/camera/cameraHandler.cpp
2024-12-19 12:19:36 -05:00

265 lines
9.0 KiB
C++

#include "cameraHandler.hpp"
CameraHandler::CameraHandler(ProjectConfig& configManager)
: configManager(configManager) {}
void CameraHandler::setupCameraPinout() {
// Workaround for espM5SStack not having a defined camera
#ifdef CAMERA_MODULE_NAME
log_i("[Camera]: Camera module is %s", CAMERA_MODULE_NAME);
#else
log_i("[Camera]: Camera module is undefined");
#endif
// camera external clock signal frequencies
// 10000000 stable
// 16500000 optimal freq on ESP32-CAM (default)
// 20000000 max freq on ESP32-CAM
// 24000000 optimal freq on ESP32-S3
int xclk_freq_hz = DEFAULT_XCLK_FREQ_HZ;
#if CONFIG_CAMERA_MODULE_ESP_EYE
/* IO13, IO14 is designed for JTAG by default,
* to use it as generalized input,
* firstly declare it as pullup input
**/
pinMode(13, INPUT_PULLUP);
pinMode(14, INPUT_PULLUP);
log_i("ESP_EYE");
#elif CONFIG_CAMERA_MODULE_CAM_BOARD
/* IO13, IO14 is designed for JTAG by default,
* to use it as generalized input,
* firstly declare it as pullup input
**/
pinMode(13, INPUT_PULLUP);
pinMode(14, INPUT_PULLUP);
log_i("CAM_BOARD");
#endif
#if ETVR_EYE_TRACKER_USB_API
xclk_freq_hz = USB_DEFAULT_XCLK_FREQ_HZ;
#endif
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.grab_mode = CAMERA_GRAB_LATEST;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sccb_sda = SIOD_GPIO_NUM;
config.pin_sccb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = xclk_freq_hz;
}
void CameraHandler::setupBasicResolution() {
config.pixel_format = PIXFORMAT_JPEG;
config.frame_size = FRAMESIZE_240X240;
if (!psramFound()) {
log_e("[Camera]: Did not find psram, setting lower image quality");
config.fb_location = CAMERA_FB_IN_DRAM;
config.jpeg_quality = 9;
config.fb_count = 2;
return;
}
log_d("[Camera]: Found psram, setting the higher image quality");
config.jpeg_quality = 7; // 0-63 lower number = higher quality, more latency
// and less fps 7 for most fps, 5 for best quality
config.fb_count = 3;
log_d("[Camera]: Setting fb_location to CAMERA_FB_IN_PSRAM");
}
void CameraHandler::setupCameraSensor() {
log_d("[Camera]: Setting up camera sensor");
camera_sensor = esp_camera_sensor_get();
// fixes corrupted jpegs, https://github.com/espressif/esp32-camera/issues/203
// documentation https://www.uctronics.com/download/cam_module/OV2640DS.pdf
camera_sensor->set_reg(
camera_sensor, 0xff, 0xff,
0x00); // banksel, here we're directly writing to the registers.
// 0xFF==0x00 is the first bank, there's also 0xFF==0x01
camera_sensor->set_reg(camera_sensor, 0xd3, 0xff, 5); // clock
camera_sensor->set_brightness(camera_sensor, 2); // -2 to 2
camera_sensor->set_contrast(camera_sensor, 2); // -2 to 2
camera_sensor->set_saturation(camera_sensor, -2); // -2 to 2
// white balance control
camera_sensor->set_whitebal(camera_sensor, 1); // 0 = disable , 1 = enable
camera_sensor->set_awb_gain(camera_sensor, 0); // 0 = disable , 1 = enable
camera_sensor->set_wb_mode(camera_sensor,
0); // 0 to 4 - if awb_gain enabled (0 - Auto, 1 -
// Sunny, 2 - Cloudy, 3 - Office, 4 - Home)
// controls the exposure
camera_sensor->set_exposure_ctrl(camera_sensor,
0); // 0 = disable , 1 = enable
camera_sensor->set_aec2(camera_sensor, 0); // 0 = disable , 1 = enable
camera_sensor->set_ae_level(camera_sensor, 0); // -2 to 2
camera_sensor->set_aec_value(camera_sensor, 300); // 0 to 1200
// Use a lower aec value for babble to better isolate the face with illuminators
#ifdef CONFIG_CAMERA_MODULE_SWROOM_BABBLE_S3
camera_sensor->set_aec_value(camera_sensor, 100); // 0 to 1200
#endif
// controls the gain
camera_sensor->set_gain_ctrl(camera_sensor, 0); // 0 = disable , 1 = enable
// automatic gain control gain, controls by how much the resulting image
// should be amplified
camera_sensor->set_agc_gain(camera_sensor, 2); // 0 to 30
camera_sensor->set_gainceiling(camera_sensor, (gainceiling_t)6); // 0 to 6
// black and white pixel correction, averages the white and black spots
camera_sensor->set_bpc(camera_sensor, 1); // 0 = disable , 1 = enable
camera_sensor->set_wpc(camera_sensor, 1); // 0 = disable , 1 = enable
// digital clamp white balance
camera_sensor->set_dcw(camera_sensor, 0); // 0 = disable , 1 = enable
// gamma correction
camera_sensor->set_raw_gma(
camera_sensor,
1); // 0 = disable , 1 = enable (makes much lighter and noisy)
camera_sensor->set_lenc(camera_sensor, 0); // 0 = disable , 1 = enable // 0 =
// disable , 1 = enable
camera_sensor->set_colorbar(camera_sensor, 0); // 0 = disable , 1 = enable
camera_sensor->set_special_effect(
camera_sensor,
2); // 0 to 6 (0 - No Effect, 1 - Negative, 2 - Grayscale, 3 - Red Tint,
// 4 - Green Tint, 5 - Blue Tint, 6 - Sepia)
log_d("[Camera]: Setting up camera sensor done");
}
bool CameraHandler::setupCamera() {
log_d("[Camera]: Setting up camera pinout");
this->setupCameraPinout();
log_d("[Camera]: Setting up camera with resolution");
this->setupBasicResolution();
log_d("[Camera]: Initializing camera...");
esp_err_t hasCameraBeenInitialized = esp_camera_init(&config);
log_d("[Camera]: Camera initialized: %s \r\n",
esp_err_to_name(hasCameraBeenInitialized));
if (hasCameraBeenInitialized != ESP_OK) {
log_e("[Camera]: Camera initialization failed with error: %s \r\n",
esp_err_to_name(hasCameraBeenInitialized));
log_e(
"[Camera]: Camera most likely not seated properly in the socket. "
"Please "
"fix the "
"camera and reboot the device.\r\n");
ledStateManager.setState(LEDStates_e::_Camera_Error);
return false;
}
#if ETVR_EYE_TRACKER_USB_API
auto temp_sensor = esp_camera_sensor_get();
auto camera_id = temp_sensor->id.PID;
switch (camera_id) {
// Thanks to lick_it, we discovered that OV5640 likes to overheat when
// running at higher than usual xclk frequencies.
// Hence why we're limit the faster ones for OV2640
case OV5640_PID:
config.xclk_freq_hz = OV5640_XCLK_FREQ_HZ;
esp_camera_deinit();
esp_camera_init(&config);
break;
default:
break;
}
#endif
this->setupCameraSensor();
return true;
}
void CameraHandler::loadConfigData() {
log_d("[Camera]: Loading camera config data");
ProjectConfig::CameraConfig_t cameraConfig = configManager.getCameraConfig();
this->setHFlip(cameraConfig.href);
this->setVFlip(cameraConfig.vflip);
this->setCameraResolution((framesize_t)cameraConfig.framesize);
camera_sensor->set_quality(camera_sensor, cameraConfig.quality);
camera_sensor->set_agc_gain(camera_sensor, cameraConfig.brightness);
log_d("Loading camera config data done");
}
int CameraHandler::setCameraResolution(framesize_t frameSize) {
if (camera_sensor->pixformat == PIXFORMAT_JPEG) {
try {
return camera_sensor->set_framesize(camera_sensor, frameSize);
} catch (...) {
// they sent us a malformed or unsupported frameSize - rather than crash -
// tell them about it
return -1;
}
}
return -1;
}
int CameraHandler::setVFlip(int direction) {
return camera_sensor->set_vflip(camera_sensor, direction);
}
int CameraHandler::setHFlip(int direction) {
return camera_sensor->set_hmirror(camera_sensor, direction);
}
int CameraHandler::setVieWindow(int offsetX,
int offsetY,
int outputX,
int outputY) {
return 0;
}
//! either hardware(1) or software(0)
void CameraHandler::resetCamera(bool type) {
if (type) {
// power cycle the camera module (handy if camera stops responding)
digitalWrite(PWDN_GPIO_NUM, HIGH); // turn power off to camera module
Network_Utilities::my_delay(0.3); // a for loop with a delay of 300ms
digitalWrite(PWDN_GPIO_NUM, LOW);
Network_Utilities::my_delay(0.3);
setupCamera();
} else {
// reset via software (handy if you wish to change resolution or image type
// etc. - see test procedure)
esp_camera_deinit();
Network_Utilities::my_delay(0.05);
setupCamera();
}
}
void CameraHandler::update(ConfigState_e event) {
switch (event) {
case ConfigState_e::configLoaded:
this->setupCamera();
this->loadConfigData();
break;
case ConfigState_e::cameraConfigUpdated:
this->loadConfigData();
break;
default:
break;
}
}
std::string CameraHandler::getName() {
return "CameraHandler";
}