├── .gitignore ├── LICENSE ├── examples ├── ESP32CameraHTTPVideoStreamingServerExample │ └── ESP32CameraHTTPVideoStreamingServerExample.ino ├── ESP32CameraHTTPVideoStreamingServerWithMotionDetection │ └── ESP32CameraHTTPVideoStreamingServerWithMotionDetection.ino └── EasyMotionDetectionGrayscale │ └── EasyMotionDetectionGrayscale.ino ├── library.json ├── library.properties └── src ├── ESP32CameraHTTPVideoStreamingServer.h ├── EloquentVision.h ├── ImageProcessing ├── Downscale.h ├── DownscaleStrategies │ ├── Center.h │ ├── Core.h │ ├── Cross.h │ ├── Diagonal.h │ └── Strategy.h ├── MotionDetection.h ├── RGB565Decoder.h └── YUV422Decoder.h ├── camera ├── ESP32Camera.h └── pins.h └── io ├── BitmapWriter.h └── JpegWriter.h /.gitignore: -------------------------------------------------------------------------------- 1 | _src 2 | cmake-build-debug 3 | .idea 4 | src/ImageProcessing/RGB565Decoder.h 5 | src/ImageProcessing/YUV422Decoder.h 6 | src/ImageProcessing/MotionDetection_backup.h -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /examples/ESP32CameraHTTPVideoStreamingServerExample/ESP32CameraHTTPVideoStreamingServerExample.ino: -------------------------------------------------------------------------------- 1 | #define CAMERA_MODEL_M5STACK_WIDE 2 | #include 3 | #include "EloquentVision.h" 4 | #include "ESP32CameraHTTPVideoStreamingServer.h" 5 | 6 | 7 | using namespace Eloquent::Vision; 8 | using namespace Eloquent::Vision::Camera; 9 | 10 | 11 | ESP32Camera camera; 12 | HTTPVideoStreamingServer server(81); 13 | 14 | 15 | /** 16 | * 17 | */ 18 | void setup() { 19 | Serial.begin(115200); 20 | WiFi.softAP("ESP32", "12345678"); 21 | 22 | camera.begin(FRAMESIZE_QVGA, PIXFORMAT_JPEG); 23 | server.start(); 24 | 25 | Serial.print("Camera Ready! Use 'http://"); 26 | Serial.print(WiFi.softAPIP()); 27 | Serial.println(":81' to stream"); 28 | } 29 | 30 | void loop() { 31 | } -------------------------------------------------------------------------------- /examples/ESP32CameraHTTPVideoStreamingServerWithMotionDetection/ESP32CameraHTTPVideoStreamingServerWithMotionDetection.ino: -------------------------------------------------------------------------------- 1 | // not workings AS-IS, needs refactoring 2 | 3 | #define CAMERA_MODEL_M5STACK_WIDE 4 | #include "WiFi.h" 5 | #include "EloquentVision.h" 6 | #include "ESP32CameraHTTPVideoStreamingServer.h" 7 | 8 | #define FRAME_SIZE FRAMESIZE_QVGA 9 | #define SOURCE_WIDTH 320 10 | #define SOURCE_HEIGHT 240 11 | #define CHANNELS 1 12 | #define DEST_WIDTH 32 13 | #define DEST_HEIGHT 24 14 | #define BLOCK_VARIATION_THRESHOLD 0.3 15 | #define MOTION_THRESHOLD 0.2 16 | 17 | 18 | // we're using the Eloquent::Vision namespace a lot! 19 | using namespace Eloquent::Vision; 20 | using namespace Eloquent::Vision::Camera; 21 | using namespace Eloquent::Vision::ImageProcessing; 22 | using namespace Eloquent::Vision::ImageProcessing::Downscale; 23 | using namespace Eloquent::Vision::ImageProcessing::DownscaleStrategies; 24 | 25 | 26 | ESP32Camera camera; 27 | HTTPVideoStreamingServer server(81); 28 | // the buffer to store the downscaled version of the image 29 | uint8_t resized[DEST_HEIGHT][DEST_WIDTH]; 30 | // the downscaler algorithm 31 | // for more details see https://eloquentarduino.github.io/2020/05/easier-faster-pure-video-esp32-cam-motion-detection 32 | Cross crossStrategy; 33 | // the downscaler container 34 | Downscaler downscaler(&crossStrategy); 35 | // the motion detection algorithm 36 | MotionDetection motion; 37 | 38 | /** 39 | * 40 | */ 41 | void setup() { 42 | Serial.begin(115200); 43 | WiFi.softAP("ESP32", "12345678"); 44 | 45 | camera.begin(FRAMESIZE_QVGA, PIXFORMAT_GRAYSCALE); 46 | motion.setBlockVariationThreshold(BLOCK_VARIATION_THRESHOLD); 47 | 48 | Serial.print("Camera Ready! Use 'http://"); 49 | Serial.print(WiFi.softAPIP()); 50 | Serial.println(":81' to stream"); 51 | } 52 | 53 | void loop() { 54 | camera_fb_t *frame = camera.capture(); 55 | 56 | // resize image and detect motion 57 | downscaler.downscale(frame->buf, resized); 58 | motion.update(resized); 59 | motion.detect(); 60 | 61 | if (motion.ratio() > MOTION_THRESHOLD) { 62 | Serial.print("Motion detected"); 63 | // start the streaming server when motion is detected 64 | // shutdown after 20 seconds if no one connects 65 | camera.begin(FRAMESIZE_QVGA, PIXFORMAT_JPEG); 66 | delay(2000); 67 | Serial.print("Camera Server ready! Use 'http://"); 68 | Serial.print(WiFi.softAPIP()); 69 | Serial.println(":81' to stream"); 70 | server.start(); 71 | delay(20000); 72 | server.stop(); 73 | camera.begin(FRAMESIZE_QVGA, PIXFORMAT_GRAYSCALE); 74 | delay(2000); 75 | } 76 | 77 | // probably we don't need 30 fps, save some power 78 | delay(300); 79 | } -------------------------------------------------------------------------------- /examples/EasyMotionDetectionGrayscale/EasyMotionDetectionGrayscale.ino: -------------------------------------------------------------------------------- 1 | // Change according to your model 2 | // The models available are 3 | // - CAMERA_MODEL_WROVER_KIT 4 | // - CAMERA_MODEL_ESP_EYE 5 | // - CAMERA_MODEL_M5STACK_PSRAM 6 | // - CAMERA_MODEL_M5STACK_WIDE 7 | // - CAMERA_MODEL_AI_THINKER 8 | #define CAMERA_MODEL_M5STACK_WIDE 9 | 10 | #include 11 | #include 12 | #include "EloquentVision.h" 13 | 14 | #define FRAME_SIZE FRAMESIZE_QVGA 15 | #define SOURCE_WIDTH 320 16 | #define SOURCE_HEIGHT 240 17 | #define CHANNELS 1 18 | #define DEST_WIDTH 32 19 | #define DEST_HEIGHT 24 20 | #define BLOCK_VARIATION_THRESHOLD 0.3 21 | #define MOTION_THRESHOLD 0.2 22 | 23 | using namespace Eloquent::Vision; 24 | using namespace Eloquent::Vision::IO; 25 | using namespace Eloquent::Vision::ImageProcessing; 26 | using namespace Eloquent::Vision::ImageProcessing::Downscale; 27 | using namespace Eloquent::Vision::ImageProcessing::DownscaleStrategies; 28 | 29 | // an easy interface to capture images from the camera 30 | ESP32Camera camera; 31 | // the buffer to store the downscaled version of the image 32 | uint8_t resized[DEST_HEIGHT][DEST_WIDTH]; 33 | // the downscaler algorithm 34 | // for more details see https://eloquentarduino.github.io/2020/05/easier-faster-pure-video-esp32-cam-motion-detection 35 | Cross crossStrategy; 36 | // the downscaler container 37 | Downscaler downscaler(&crossStrategy); 38 | // the motion detection algorithm 39 | MotionDetection motion; 40 | JpegWriter jpegWriter; 41 | 42 | 43 | bool debounceMotion(bool touch = false); 44 | void printFilesize(const char *filename); 45 | 46 | 47 | /** 48 | * 49 | */ 50 | void setup() { 51 | Serial.begin(115200); 52 | SPIFFS.begin(true); 53 | camera.begin(FRAME_SIZE, PIXFORMAT_GRAYSCALE); 54 | motion.setBlockVariationThreshold(BLOCK_VARIATION_THRESHOLD); 55 | } 56 | 57 | /** 58 | * 59 | */ 60 | void loop() { 61 | uint32_t start = millis(); 62 | camera_fb_t *frame = camera.capture(); 63 | 64 | // resize image and detect motion 65 | downscaler.downscale(frame->buf, resized); 66 | motion.update(resized); 67 | motion.detect(); 68 | 69 | // compute FPS 70 | Serial.print(1000.0f / (millis() - start)); 71 | Serial.println(" fps"); 72 | 73 | // on motion detected, save image to filesystem 74 | if (motion.ratio() > MOTION_THRESHOLD) { 75 | Serial.println("Motion detected"); 76 | 77 | // save image 78 | if (debounceMotion()) { 79 | // take a new pic in the hope it is less affected by the motion noise 80 | // (you may comment this out if you want) 81 | delay(500); 82 | frame = camera.capture(); 83 | 84 | // write as jpeg 85 | File imageFile = SPIFFS.open("/capture.jpg", "wb"); 86 | // you can tweak this value as per your needs 87 | uint8_t quality = 30; 88 | 89 | Serial.println("The image will be saved as /capture.jpg"); 90 | jpegWriter.writeGrayscale(imageFile, frame->buf, quality); 91 | imageFile.close(); 92 | printFilesize("/capture.jpg"); 93 | 94 | debounceMotion(true); 95 | } 96 | } 97 | } 98 | 99 | /** 100 | * Debounce repeated motion detections 101 | * @return 102 | */ 103 | bool debounceMotion(bool touch) { 104 | static uint32_t lastMotion = 0; 105 | 106 | // update last tick 107 | if (lastMotion == 0 || touch) 108 | lastMotion = millis(); 109 | 110 | // debounce 111 | if (millis() - lastMotion > 5000) { 112 | lastMotion = millis(); 113 | 114 | return true; 115 | } 116 | 117 | return false; 118 | } 119 | 120 | 121 | /** 122 | * Print file size (for debug) 123 | * @param filename 124 | */ 125 | void printFilesize(const char *filename) { 126 | File file = SPIFFS.open(filename, "r"); 127 | 128 | Serial.print(filename); 129 | Serial.print(" size is "); 130 | Serial.print(file.size() / 1000); 131 | Serial.println(" kb"); 132 | 133 | file.close(); 134 | } -------------------------------------------------------------------------------- /library.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "EloquentVision", 3 | "keywords": "", 4 | "description": "Image processing datatypes and algorithms for Arduino and Esp32", 5 | "repository": { 6 | "type": "git", 7 | "url": "https://github.com/eloquentarduino/EloquentVision" 8 | }, 9 | "version": "0.0.5", 10 | "authors": { 11 | "name": "Simone Salerno", 12 | "url": "https://github.com/eloquentarduino" 13 | }, 14 | "frameworks": "arduino", 15 | "platforms": "*" 16 | } 17 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=EloquentVision 2 | version=0.0.5 3 | author=Simone Salerno,eloquentarduino@gmail.com 4 | maintainer=Simone Salerno,eloquentarduino@gmail.com 5 | sentence=Image processing datatypes and algorithms for Arduino and Esp32 6 | paragraph= 7 | category=Other 8 | url=https://github.com/eloquentarduino/EloquentArduino 9 | architectures=* 10 | -------------------------------------------------------------------------------- /src/ESP32CameraHTTPVideoStreamingServer.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | 6 | namespace Eloquent { 7 | namespace Vision { 8 | namespace Camera { 9 | 10 | class HTTPVideoStreamingServer { 11 | public: 12 | 13 | /** 14 | * 15 | * @param port 16 | */ 17 | HTTPVideoStreamingServer(uint16_t port = 81) : 18 | _isPlaying(false) { 19 | _config = HTTPD_DEFAULT_CONFIG(); 20 | _config.server_port = port; 21 | } 22 | 23 | /** 24 | * 25 | * @return 26 | */ 27 | bool start() { 28 | if (_isPlaying) 29 | return true; 30 | 31 | if (httpd_start(&_httpd, &_config) != ESP_OK) 32 | return false; 33 | 34 | _isPlaying = true; 35 | 36 | httpd_uri_t stream_uri = { 37 | .uri = "/", 38 | .method = HTTP_GET, 39 | .handler = [](httpd_req_t *req) { 40 | esp_err_t res = ESP_OK; 41 | char *part[64]; 42 | 43 | if (httpd_resp_set_type(req, "multipart/x-mixed-replace;boundary=123456789000000000000987654321") != ESP_OK) 44 | return ESP_FAIL; 45 | 46 | httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 47 | 48 | while (true) { 49 | size_t contentTypeHeaderLength; 50 | camera_fb_t *fb = esp_camera_fb_get(); 51 | 52 | if (!fb) 53 | return ESP_FAIL; 54 | 55 | contentTypeHeaderLength = snprintf((char *) part, 64, 56 | "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n", fb->len); 57 | 58 | if (httpd_resp_send_chunk(req, (const char *) part, contentTypeHeaderLength) != ESP_OK) 59 | return ESP_FAIL; 60 | 61 | if (httpd_resp_send_chunk(req, (const char *) fb->buf, fb->len) != ESP_OK) { 62 | esp_camera_fb_return(fb); 63 | 64 | return ESP_FAIL; 65 | } 66 | 67 | esp_camera_fb_return(fb); 68 | res = httpd_resp_send_chunk(req, "\r\n--123456789000000000000987654321\r\n", 37); 69 | fb = NULL; 70 | } 71 | 72 | return ESP_OK; 73 | }, 74 | .user_ctx = NULL 75 | }; 76 | 77 | httpd_register_uri_handler(_httpd, &stream_uri); 78 | 79 | return true; 80 | } 81 | 82 | /** 83 | * Stop the webserver 84 | */ 85 | void stop() { 86 | _isPlaying = false; 87 | httpd_unregister_uri(_httpd, "/"); 88 | httpd_stop(_httpd); 89 | } 90 | 91 | protected: 92 | bool _isPlaying; 93 | httpd_config_t _config; 94 | httpd_handle_t _httpd; 95 | }; 96 | } 97 | } 98 | } -------------------------------------------------------------------------------- /src/EloquentVision.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #ifdef ESP32 4 | #include "camera/ESP32Camera.h" 5 | #endif 6 | 7 | #include "ImageProcessing/Downscale.h" 8 | #include "ImageProcessing/MotionDetection.h" 9 | #include "ImageProcessing/YUV422Decoder.h" 10 | #include "ImageProcessing/RGB565Decoder.h" 11 | 12 | #ifdef FS_H 13 | #include "io/BitmapWriter.h" 14 | #include "io/JpegWriter.h" 15 | #endif -------------------------------------------------------------------------------- /src/ImageProcessing/Downscale.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "DownscaleStrategies/Center.h" 4 | #include "DownscaleStrategies/Core.h" 5 | #include "DownscaleStrategies/Cross.h" 6 | #include "DownscaleStrategies/Diagonal.h" 7 | 8 | namespace Eloquent { 9 | namespace Vision { 10 | namespace ImageProcessing { 11 | namespace Downscale { 12 | 13 | /** 14 | * 15 | * @tparam sourceWidth 16 | * @tparam sourceHeight 17 | * @tparam channels 18 | */ 19 | template 20 | class Downscaler { 21 | public: 22 | /** 23 | * 24 | * @param strategy 25 | */ 26 | Downscaler(DownscaleStrategies::Strategy *strategy) : 27 | _strategy(strategy) { 28 | 29 | } 30 | 31 | /** 32 | * Downscale image according to the given strategy 33 | * @param source 34 | * @param dest 35 | */ 36 | void downscale(uint8_t *source, uint8_t dest[destHeight][destWidth]) { 37 | const uint8_t blockSizeX = sourceWidth / destWidth; 38 | const uint8_t blockSizeY = sourceHeight / destHeight; 39 | const uint32_t blockRowsOffset = blockSizeY * sourceWidth; 40 | uint32_t offsetY = 0; 41 | uint8_t block[blockSizeY][blockSizeX]; 42 | 43 | for (uint16_t destY = 0; destY < destHeight; destY++) { 44 | for (uint16_t destX = 0; destX < destWidth; destX++) { 45 | uint32_t offset = offsetY + destX * blockSizeX; 46 | 47 | // fill the block 48 | // @todo select channel 49 | for (uint8_t y = 0; y < blockSizeY; y++) { 50 | memcpy(block[y], source + offset, blockSizeX); 51 | offset += sourceWidth; 52 | } 53 | 54 | dest[destY][destX] = _strategy->apply(block); 55 | } 56 | 57 | offsetY += blockRowsOffset; 58 | } 59 | } 60 | 61 | protected: 62 | /** 63 | * Strategy for downscale 64 | */ 65 | DownscaleStrategies::Strategy *_strategy; 66 | }; 67 | } 68 | } 69 | } 70 | } -------------------------------------------------------------------------------- /src/ImageProcessing/DownscaleStrategies/Center.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Strategy.h" 4 | 5 | namespace Eloquent { 6 | namespace Vision { 7 | namespace ImageProcessing { 8 | namespace DownscaleStrategies { 9 | 10 | /** 11 | * Return the center pixel 12 | * @tparam sourceWidth 13 | * @tparam sourceHeight 14 | * @tparam destWidth 15 | * @tparam destHeight 16 | */ 17 | template 18 | class Center : public Strategy { 19 | public: 20 | /** 21 | * Computing function 22 | * @param block 23 | * @return 24 | */ 25 | const uint8_t apply(uint8_t block[sourceHeight / destHeight][sourceWidth / destWidth]) { 26 | return block[sourceHeight / destHeight / 2][sourceWidth / destWidth / 2]; 27 | } 28 | }; 29 | } 30 | } 31 | } 32 | } -------------------------------------------------------------------------------- /src/ImageProcessing/DownscaleStrategies/Core.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Strategy.h" 4 | 5 | namespace Eloquent { 6 | namespace Vision { 7 | namespace ImageProcessing { 8 | namespace DownscaleStrategies { 9 | 10 | /** 11 | * Return the innermost pixels 12 | * @tparam sourceWidth 13 | * @tparam sourceHeight 14 | * @tparam destWidth 15 | * @tparam destHeight 16 | */ 17 | template 18 | class Core : public Strategy { 19 | public: 20 | /** 21 | * 22 | * @param radius how far for the center to consider pixels 23 | */ 24 | Core(uint8_t radius = 1) : 25 | _radius(radius) { 26 | 27 | } 28 | 29 | /** 30 | * Computing function 31 | * @param block 32 | * @return 33 | */ 34 | const uint8_t apply(uint8_t block[sourceHeight / destHeight][sourceWidth / destWidth]) 35 | { 36 | const uint8_t blockSizeX = sourceWidth / destWidth; 37 | const uint8_t blockSizeY = sourceHeight / destHeight; 38 | const uint8_t centerX = blockSizeX * 0.5; 39 | const uint8_t centerY = blockSizeY * 0.5; 40 | uint16_t accumulator = 0; 41 | uint8_t count = 0; 42 | 43 | for (uint8_t y = max(0, centerY - _radius); y < min(centerY + _radius, (int)blockSizeY); y++) 44 | { 45 | for (uint8_t x = max(0, centerX - _radius); x < min(centerX + _radius, (int)blockSizeX); x++) 46 | { 47 | accumulator += block[y][x]; 48 | count += 1; 49 | } 50 | } 51 | 52 | return accumulator / count; 53 | } 54 | 55 | protected: 56 | uint8_t _radius; 57 | }; 58 | } 59 | } 60 | } 61 | } -------------------------------------------------------------------------------- /src/ImageProcessing/DownscaleStrategies/Cross.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Strategy.h" 4 | 5 | namespace Eloquent { 6 | namespace Vision { 7 | namespace ImageProcessing { 8 | namespace DownscaleStrategies { 9 | 10 | /** 11 | * Return the average of vertical and horizontal central pixels 12 | * @tparam sourceWidth 13 | * @tparam sourceHeight 14 | * @tparam destWidth 15 | * @tparam destHeight 16 | */ 17 | template 18 | class Cross : public Strategy { 19 | public: 20 | 21 | /** 22 | * Computing function 23 | * @param block 24 | * @return 25 | */ 26 | const uint8_t apply(uint8_t block[sourceHeight / destHeight][sourceWidth / destWidth]) { 27 | const uint8_t blockSizeX = sourceWidth / destWidth; 28 | const uint8_t blockSizeY = sourceHeight / destHeight; 29 | const uint8_t centerX = blockSizeX * 0.5; 30 | const uint8_t centerY = blockSizeY * 0.5; 31 | uint32_t accumulator = 0; 32 | 33 | for (uint8_t y = 0; y < blockSizeY; y++) 34 | accumulator += block[y][centerX]; 35 | 36 | for (uint8_t x = 0; x < blockSizeX; x++) 37 | accumulator += block[centerY][x]; 38 | 39 | return accumulator / (blockSizeX + blockSizeY); 40 | } 41 | }; 42 | } 43 | } 44 | } 45 | } -------------------------------------------------------------------------------- /src/ImageProcessing/DownscaleStrategies/Diagonal.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Strategy.h" 4 | 5 | namespace Eloquent { 6 | namespace Vision { 7 | namespace ImageProcessing { 8 | namespace DownscaleStrategies { 9 | 10 | /** 11 | * Return the average of diagonal pixels 12 | * @tparam sourceWidth 13 | * @tparam sourceHeight 14 | * @tparam destWidth 15 | * @tparam destHeight 16 | */ 17 | template 18 | class Diagonal : public Strategy { 19 | public: 20 | 21 | /** 22 | * Computing function 23 | * @param block 24 | * @return 25 | */ 26 | const uint8_t apply(uint8_t block[sourceHeight / destHeight][sourceWidth / destWidth]) { 27 | const uint8_t blockSizeX = sourceWidth / destWidth; 28 | const uint8_t blockSizeY = sourceHeight / destHeight; 29 | const uint8_t minSize = min(blockSizeX, blockSizeY); 30 | const float stepX = blockSizeX / minSize; 31 | const float stepY = blockSizeY / minSize; 32 | uint32_t accumulator = 0; 33 | uint8_t count = 0; 34 | 35 | // left diagonal 36 | for (float x = 0, y = 0; x < blockSizeX && y < blockSizeY; ) { 37 | accumulator += block[(uint8_t) y][(uint8_t) x]; 38 | count += 1; 39 | x += stepX; 40 | y += stepY; 41 | } 42 | 43 | // right diagonal 44 | for (float x = blockSizeX - 1, y = blockSizeY - 1; x >= 0 && y >= 0; ) { 45 | accumulator += block[(uint8_t) y][(uint8_t) x]; 46 | count += 1; 47 | x -= stepX; 48 | y -= stepY; 49 | } 50 | 51 | return accumulator / count; 52 | } 53 | }; 54 | } 55 | } 56 | } 57 | } -------------------------------------------------------------------------------- /src/ImageProcessing/DownscaleStrategies/Strategy.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace Eloquent { 4 | namespace Vision { 5 | namespace ImageProcessing { 6 | namespace DownscaleStrategies { 7 | 8 | /** 9 | * Abstract class for a block reducer 10 | * @tparam sourceWidth 11 | * @tparam sourceHeight 12 | * @tparam destWidth 13 | * @tparam destHeight 14 | */ 15 | template 16 | class Strategy { 17 | public: 18 | /** 19 | * Computing function 20 | * @param block 21 | * @return 22 | */ 23 | virtual const uint8_t apply(uint8_t block[sourceHeight / destHeight][sourceWidth / destWidth]) = 0; 24 | }; 25 | } 26 | } 27 | } 28 | } -------------------------------------------------------------------------------- /src/ImageProcessing/MotionDetection.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Downscale.h" 4 | 5 | using namespace Eloquent::Vision::ImageProcessing::Downscale; 6 | 7 | namespace Eloquent { 8 | namespace Vision { 9 | 10 | /** 11 | * Eloquent class to detect motion in a stream of images 12 | * 13 | * @tparam sourceWidth width of the source image 14 | * @tparam sourceHeight height of the source image 15 | */ 16 | template 17 | class MotionDetection { 18 | public: 19 | /** 20 | * 21 | * @param smooth transition smoothing factor 22 | */ 23 | MotionDetection(float smooth = 0.25) : 24 | _smooth(smooth), 25 | _threshold(0.2) { 26 | 27 | const uint8_t zeros[sourceWidth] = {0}; 28 | 29 | for (uint16_t y = 0; y < sourceHeight; y++) { 30 | memcpy(_curr[y], zeros, sourceWidth); 31 | memcpy(_prev[y], zeros, sourceWidth); 32 | } 33 | } 34 | 35 | /** 36 | * Push new frame to motion detector 37 | * @param image 38 | */ 39 | void update(uint8_t image[sourceHeight][sourceWidth]) { 40 | for (uint16_t y = 0; y < sourceHeight; y++) { 41 | for (uint16_t x = 0; x < sourceWidth; x++) { 42 | // smoothed transition 43 | _prev[y][x] = (1 - _smooth) * _curr[y][x] + _smooth * _prev[y][x]; 44 | _curr[y][x] = image[y][x]; 45 | } 46 | } 47 | } 48 | 49 | /** 50 | * Update block diff threshold value 51 | * @param threshold 52 | * @deprecated 53 | */ 54 | void setDiffThreshold(float threshold) { 55 | _threshold = threshold; 56 | } 57 | 58 | /** 59 | * Set frame transition smoothing factor 60 | * (set to 0 for no smoothing) 61 | * @param smooth in the range [0, 1[ 62 | */ 63 | void setSmoothingFactor(float smooth) { 64 | _smooth = smooth >= 1 || smooth <= 0 ? 0 : smooth; 65 | } 66 | 67 | /** 68 | * Update block diff threshold value 69 | * @param threshold 70 | */ 71 | void setBlockVariationThreshold(float threshold) { 72 | _threshold = threshold; 73 | } 74 | 75 | /** 76 | * Get number of pixels 77 | * @return 78 | */ 79 | inline uint16_t pixels() { 80 | return sourceWidth * sourceHeight; 81 | } 82 | 83 | /** 84 | * Detect how many pixels changed by at least a given threshold 85 | * @return 86 | */ 87 | uint16_t detect() { 88 | uint16_t changes = 0; 89 | 90 | // relative threshold 91 | if (_threshold < 1) { 92 | for (uint16_t y = 0; y < sourceHeight; y++) { 93 | for (uint16_t x = 0; x < sourceWidth; x++) { 94 | float current = _curr[y][x]; 95 | float prev = _prev[y][x]; 96 | float delta = abs(current - prev) / (prev > 0 ? prev : 1); 97 | 98 | if (delta >= _threshold) 99 | changes += 1; 100 | } 101 | } 102 | } 103 | else { 104 | // absolute threshold 105 | for (uint16_t y = 0; y < sourceHeight; y++) { 106 | for (uint16_t x = 0; x < sourceWidth; x++) { 107 | float current = _curr[y][x]; 108 | float prev = _prev[y][x]; 109 | float delta = abs(current - prev); 110 | 111 | if (delta >= _threshold) 112 | changes += 1; 113 | } 114 | } 115 | } 116 | 117 | return (_changes = changes); 118 | } 119 | 120 | /** 121 | * Get the ratio of pixels that changed in the last frame 122 | * @return 123 | */ 124 | float ratio() { 125 | return (1.0f * _changes) / pixels(); 126 | } 127 | 128 | 129 | protected: 130 | /** 131 | * Current frame 132 | */ 133 | uint8_t _curr[sourceHeight][sourceWidth]; 134 | 135 | /** 136 | * Previous frame 137 | */ 138 | uint8_t _prev[sourceHeight][sourceWidth]; 139 | 140 | /** 141 | * Smoothing factor for transition from a frame to the next 142 | * 0 means to completely discard the previous frame 143 | * 1 means no update at all (useless) 144 | */ 145 | float _smooth; 146 | 147 | /** 148 | * Threshold to mark a block as "different" from the previous 149 | * - if threshold < 1, it is interpreted as relative 150 | * - if threshold >= 1, it is interpreted as absolute 151 | * - set to 0 to detect every single change (not recommended) 152 | */ 153 | float _threshold; 154 | 155 | /** 156 | * Cache number of changes 157 | */ 158 | uint16_t _changes; 159 | }; 160 | } 161 | } -------------------------------------------------------------------------------- /src/ImageProcessing/RGB565Decoder.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace Eloquent { 4 | namespace Vision { 5 | namespace Camera { 6 | 7 | template 8 | class RGB565Decoder { 9 | public: 10 | 11 | /** 12 | * Decode RGB565 image into [R, G, B, R, G, B] array 13 | * Source format is RRRRRGGGGGGBBBBB 14 | * @param buf 15 | * @param dest 16 | * @param blockSize 17 | */ 18 | void decode(uint8_t *buf, uint8_t *dest, uint8_t blockSize) { 19 | uint16_t index = 0; 20 | const uint8_t halfBlockSize = blockSize / 2; 21 | const uint16_t doubleSourceWidth = sourceWidth * 2; 22 | const uint8_t area = blockSize * blockSize; 23 | const float multiplier5 = 255.0f / 32 / area; 24 | const float multiplier6 = 255.0f / 64 / area; 25 | 26 | for (uint16_t y = 0; y < sourceHeight; y += blockSize) { 27 | for (uint16_t x = 0; x < sourceWidth; x += blockSize) { 28 | uint16_t R = 0; 29 | uint16_t G = 0; 30 | uint16_t B = 0; 31 | const uint16_t xOffset = x * halfBlockSize; 32 | 33 | for (uint8_t j = 0; j < blockSize; j++) { 34 | uint32_t *rowPixels = (uint32_t *) &buf[(y + j) * doubleSourceWidth + xOffset]; 35 | 36 | for (uint8_t i = 0; i < blockSize; i += 2) { 37 | uint32_t rgb = __builtin_bswap32(*rowPixels++); 38 | 39 | R += (rgb & 0b1111100000000000) >> 11; 40 | G += (rgb & 0b0000011111100000) >> 5; 41 | B += (rgb & 0b0000000000011111); 42 | } 43 | } 44 | 45 | dest[index++] = multiplier5 * R; 46 | dest[index++] = multiplier6 * G; 47 | dest[index++] = multiplier5 * B; 48 | } 49 | } 50 | } 51 | }; 52 | } 53 | } 54 | } -------------------------------------------------------------------------------- /src/ImageProcessing/YUV422Decoder.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace Eloquent { 4 | namespace Vision { 5 | namespace Camera { 6 | 7 | template 8 | class YUV422Decoder { 9 | public: 10 | 11 | /** 12 | * Decode YUV422 image into [Y, U, V, Y, U, V...] array 13 | * Source format is YUYV 14 | * @param buf 15 | * @param dest 16 | * @param blockSize 17 | */ 18 | void decode(uint8_t *buf, uint8_t *dest, uint8_t blockSize) { 19 | uint16_t index = 0; 20 | const uint8_t halfBlockSize = blockSize / 2; 21 | const uint16_t doubleSourceWidth = sourceWidth * 2; 22 | const uint8_t area = blockSize * blockSize; 23 | 24 | for (uint16_t y = 0; y < sourceHeight; y += blockSize) { 25 | for (uint16_t x = 0; x < sourceWidth; x += blockSize) { 26 | uint16_t Y = 0; 27 | uint16_t U = 0; 28 | uint16_t V = 0; 29 | const uint16_t xOffset = x * halfBlockSize; 30 | 31 | for (uint8_t j = 0; j < blockSize; j++) { 32 | uint32_t *rowPixels = (uint32_t *) &buf[(y + j) * doubleSourceWidth + xOffset]; 33 | 34 | for (uint8_t i = 0; i < blockSize; i += 2) { 35 | uint32_t yuyv = __builtin_bswap32(*rowPixels++); 36 | 37 | Y += (yuyv & 0xff000000) >> 24; 38 | U += (yuyv & 0xff0000) >> 16; 39 | Y += (yuyv & 0xff00) >> 8; 40 | V += (yuyv & 0xff); 41 | } 42 | } 43 | 44 | dest[index++] = Y / 2 / area; 45 | dest[index++] = U / area; 46 | dest[index++] = V / area; 47 | } 48 | } 49 | } 50 | }; 51 | } 52 | } 53 | } -------------------------------------------------------------------------------- /src/camera/ESP32Camera.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "pins.h" 5 | 6 | namespace Eloquent { 7 | namespace Vision { 8 | 9 | class ESP32Camera { 10 | public: 11 | /** 12 | * 13 | */ 14 | ESP32Camera() : 15 | _pixelFormat(PIXFORMAT_RGB565) { 16 | 17 | } 18 | 19 | uint8_t getDepth() { 20 | return _pixelFormat == PIXFORMAT_GRAYSCALE ? 1 : 3; 21 | } 22 | 23 | /** 24 | * 25 | * @param frameSize 26 | * @param pixelFormat 27 | * @param jpegQuality 28 | * @return 29 | */ 30 | bool begin(framesize_t frameSize, pixformat_t pixelFormat = PIXFORMAT_RGB565, uint8_t jpegQuality = 30, uint32_t freq = 20000000) { 31 | camera_config_t config; 32 | 33 | config.ledc_channel = LEDC_CHANNEL_0; 34 | config.ledc_timer = LEDC_TIMER_0; 35 | config.pin_d0 = Y2_GPIO_NUM; 36 | config.pin_d1 = Y3_GPIO_NUM; 37 | config.pin_d2 = Y4_GPIO_NUM; 38 | config.pin_d3 = Y5_GPIO_NUM; 39 | config.pin_d4 = Y6_GPIO_NUM; 40 | config.pin_d5 = Y7_GPIO_NUM; 41 | config.pin_d6 = Y8_GPIO_NUM; 42 | config.pin_d7 = Y9_GPIO_NUM; 43 | config.pin_xclk = XCLK_GPIO_NUM; 44 | config.pin_pclk = PCLK_GPIO_NUM; 45 | config.pin_vsync = VSYNC_GPIO_NUM; 46 | config.pin_href = HREF_GPIO_NUM; 47 | config.pin_sscb_sda = SIOD_GPIO_NUM; 48 | config.pin_sscb_scl = SIOC_GPIO_NUM; 49 | config.pin_pwdn = PWDN_GPIO_NUM; 50 | config.pin_reset = RESET_GPIO_NUM; 51 | config.xclk_freq_hz = freq; 52 | config.pixel_format = _pixelFormat = pixelFormat; 53 | config.frame_size = frameSize; 54 | config.jpeg_quality = jpegQuality; 55 | config.fb_count = 1; 56 | 57 | bool ok = esp_camera_init(&config) == ESP_OK; 58 | 59 | sensor_t *sensor = esp_camera_sensor_get(); 60 | sensor->set_framesize(sensor, frameSize); 61 | 62 | return ok; 63 | } 64 | 65 | /** 66 | * 67 | * @return 68 | */ 69 | camera_fb_t* capture() { 70 | return (_frame = esp_camera_fb_get()); 71 | } 72 | 73 | protected: 74 | pixformat_t _pixelFormat; 75 | camera_fb_t *_frame; 76 | }; 77 | } 78 | } -------------------------------------------------------------------------------- /src/camera/pins.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #if defined(CAMERA_MODEL_WROVER_KIT) 4 | #define PWDN_GPIO_NUM -1 5 | #define RESET_GPIO_NUM -1 6 | #define XCLK_GPIO_NUM 21 7 | #define SIOD_GPIO_NUM 26 8 | #define SIOC_GPIO_NUM 27 9 | 10 | #define Y9_GPIO_NUM 35 11 | #define Y8_GPIO_NUM 34 12 | #define Y7_GPIO_NUM 39 13 | #define Y6_GPIO_NUM 36 14 | #define Y5_GPIO_NUM 19 15 | #define Y4_GPIO_NUM 18 16 | #define Y3_GPIO_NUM 5 17 | #define Y2_GPIO_NUM 4 18 | #define VSYNC_GPIO_NUM 25 19 | #define HREF_GPIO_NUM 23 20 | #define PCLK_GPIO_NUM 22 21 | 22 | #elif defined(CAMERA_MODEL_ESP_EYE) 23 | #define PWDN_GPIO_NUM -1 24 | #define RESET_GPIO_NUM -1 25 | #define XCLK_GPIO_NUM 4 26 | #define SIOD_GPIO_NUM 18 27 | #define SIOC_GPIO_NUM 23 28 | 29 | #define Y9_GPIO_NUM 36 30 | #define Y8_GPIO_NUM 37 31 | #define Y7_GPIO_NUM 38 32 | #define Y6_GPIO_NUM 39 33 | #define Y5_GPIO_NUM 35 34 | #define Y4_GPIO_NUM 14 35 | #define Y3_GPIO_NUM 13 36 | #define Y2_GPIO_NUM 34 37 | #define VSYNC_GPIO_NUM 5 38 | #define HREF_GPIO_NUM 27 39 | #define PCLK_GPIO_NUM 25 40 | 41 | #elif defined(CAMERA_MODEL_M5STACK_PSRAM) 42 | #define PWDN_GPIO_NUM -1 43 | #define RESET_GPIO_NUM 15 44 | #define XCLK_GPIO_NUM 27 45 | #define SIOD_GPIO_NUM 25 46 | #define SIOC_GPIO_NUM 23 47 | 48 | #define Y9_GPIO_NUM 19 49 | #define Y8_GPIO_NUM 36 50 | #define Y7_GPIO_NUM 18 51 | #define Y6_GPIO_NUM 39 52 | #define Y5_GPIO_NUM 5 53 | #define Y4_GPIO_NUM 34 54 | #define Y3_GPIO_NUM 35 55 | #define Y2_GPIO_NUM 32 56 | #define VSYNC_GPIO_NUM 22 57 | #define HREF_GPIO_NUM 26 58 | #define PCLK_GPIO_NUM 21 59 | 60 | #elif defined(CAMERA_MODEL_M5STACK_WIDE) 61 | #define PWDN_GPIO_NUM -1 62 | #define RESET_GPIO_NUM 15 63 | #define XCLK_GPIO_NUM 27 64 | #define SIOD_GPIO_NUM 22 65 | #define SIOC_GPIO_NUM 23 66 | 67 | #define Y9_GPIO_NUM 19 68 | #define Y8_GPIO_NUM 36 69 | #define Y7_GPIO_NUM 18 70 | #define Y6_GPIO_NUM 39 71 | #define Y5_GPIO_NUM 5 72 | #define Y4_GPIO_NUM 34 73 | #define Y3_GPIO_NUM 35 74 | #define Y2_GPIO_NUM 32 75 | #define VSYNC_GPIO_NUM 25 76 | #define HREF_GPIO_NUM 26 77 | #define PCLK_GPIO_NUM 21 78 | 79 | #elif defined(CAMERA_MODEL_AI_THINKER) 80 | #define PWDN_GPIO_NUM 32 81 | #define RESET_GPIO_NUM -1 82 | #define XCLK_GPIO_NUM 0 83 | #define SIOD_GPIO_NUM 26 84 | #define SIOC_GPIO_NUM 27 85 | 86 | #define Y9_GPIO_NUM 35 87 | #define Y8_GPIO_NUM 34 88 | #define Y7_GPIO_NUM 39 89 | #define Y6_GPIO_NUM 36 90 | #define Y5_GPIO_NUM 21 91 | #define Y4_GPIO_NUM 19 92 | #define Y3_GPIO_NUM 18 93 | #define Y2_GPIO_NUM 5 94 | #define VSYNC_GPIO_NUM 25 95 | #define HREF_GPIO_NUM 23 96 | #define PCLK_GPIO_NUM 22 97 | 98 | #else 99 | #error "Camera model not selected" 100 | #endif -------------------------------------------------------------------------------- /src/io/BitmapWriter.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | 4 | namespace Eloquent { 5 | namespace Vision { 6 | namespace IO { 7 | 8 | /** 9 | * Write bitmap image to disk 10 | * @from https://stackoverflow.com/questions/2654480/writing-bmp-image-in-pure-c-c-without-other-libraries 11 | */ 12 | template 13 | class BitmapWriter { 14 | public: 15 | 16 | /** 17 | * 18 | * @param file 19 | * @param image 20 | */ 21 | void writeGrayscale(File& file, uint8_t *image) { 22 | writeHeader(file); 23 | 24 | for (uint32_t i = 0; i < width * height; i++) { 25 | uint8_t pixel = *image++; 26 | 27 | file.write(pixel); 28 | file.write(pixel); 29 | file.write(pixel); 30 | 31 | if (i % 100 == 0) 32 | file.flush(); 33 | } 34 | } 35 | 36 | /** 37 | * 38 | * @param file 39 | * @param image 40 | */ 41 | void writeRGB888(File& file, uint8_t *image) { 42 | writeHeader(file); 43 | 44 | for (int i = 0; i < height; i++) { 45 | const uint32_t y = i * width * 3; 46 | 47 | file.write(image + y, width * 3); 48 | file.flush(); 49 | } 50 | } 51 | 52 | /** 53 | * 54 | * @param file 55 | * @param image 56 | */ 57 | void writeRGB565(File& file, uint8_t *image) { 58 | uint8_t hb, lb; 59 | 60 | writeHeader(file); 61 | 62 | // @from https://github.com/espressif/esp32-camera/blob/master/conversions/to_bmp.c#L279 63 | for(uint16_t i = 0; i < width * height; i++) { 64 | hb = *image++; 65 | lb = *image++; 66 | 67 | file.write((lb & 0x1F) << 3); 68 | file.write((hb & 0x07) << 5 | (lb & 0xE0) >> 3); 69 | file.write(hb & 0xF8); 70 | 71 | if (i % 100 == 0) 72 | file.flush(); 73 | } 74 | } 75 | 76 | protected: 77 | /** 78 | * Write Bitmap header 79 | */ 80 | void writeHeader(File& file) { 81 | unsigned char fileHeader[14] = {'B', 'M', 0, 0, 0, 0, 0, 0, 0, 0, 54, 0, 0, 0}; 82 | unsigned char imageHeader[40] = {40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 24, 0}; 83 | uint32_t filesize = 54 + width * height * 3; 84 | 85 | fileHeader[2] = (unsigned char) (filesize); 86 | fileHeader[3] = (unsigned char) (filesize >> 8); 87 | fileHeader[4] = (unsigned char) (filesize >> 16); 88 | fileHeader[5] = (unsigned char) (filesize >> 24); 89 | 90 | imageHeader[4] = (unsigned char) (width); 91 | imageHeader[5] = (unsigned char) (width >> 8); 92 | imageHeader[6] = (unsigned char) (width >> 16); 93 | imageHeader[7] = (unsigned char) (width >> 24); 94 | imageHeader[8] = (unsigned char) (height); 95 | imageHeader[9] = (unsigned char) (height >> 8); 96 | imageHeader[10] = (unsigned char) (height >> 16); 97 | imageHeader[11] = (unsigned char) (height >> 24); 98 | 99 | file.write(fileHeader, 14); 100 | file.write(imageHeader, 40); 101 | } 102 | }; 103 | } 104 | } 105 | } -------------------------------------------------------------------------------- /src/io/JpegWriter.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | 4 | namespace Eloquent { 5 | namespace Vision { 6 | namespace IO { 7 | 8 | /** 9 | * Write jpeg image to disk 10 | */ 11 | template 12 | class JpegWriter { 13 | public: 14 | 15 | /** 16 | * 17 | * @param file 18 | * @param image 19 | */ 20 | bool writeGrayscale(File& file, uint8_t *image, uint8_t quality = 30) { 21 | uint8_t *jpeg; 22 | size_t len; 23 | 24 | if (fmt2jpg(image, width * height, width, height, PIXFORMAT_GRAYSCALE, quality, &jpeg, &len)) { 25 | file.write(jpeg, len); 26 | free(jpeg); 27 | 28 | return true; 29 | } 30 | 31 | return false; 32 | } 33 | }; 34 | } 35 | } 36 | } --------------------------------------------------------------------------------