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Commit 403df88

Browse files
ESP32 camera motion detection example
1 parent eb02981 commit 403df88

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22 files changed

+1018
-303
lines changed

22 files changed

+1018
-303
lines changed

‎.idea/workspace.xml‎

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#define CAMERA_MODEL_M5STACK_WIDE
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#include "esp_camera.h"
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#include "camera_pins.h"
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#define FRAME_SIZE FRAMESIZE_QVGA
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#define WIDTH 320
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#define HEIGHT 240
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#define BLOCK_SIZE 10
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#define W (WIDTH / BLOCK_SIZE)
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#define H (HEIGHT / BLOCK_SIZE)
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#define BLOCK_DIFF_THRESHOLD 0.2
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#define IMAGE_DIFF_THRESHOLD 0.1
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#define DEBUG 1
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uint16_t prev_frame[H][W] = { 0 };
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uint16_t current_frame[H][W] = { 0 };
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bool setup_camera(framesize_t);
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bool capture_still();
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bool motion_detect();
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void update_frame();
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void print_frame(uint16_t frame[H][W]);
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/**
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*
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*/
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void setup() {
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Serial.begin(115200);
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Serial.println(setup_camera(FRAME_SIZE) ? "OK" : "ERR INIT");
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}
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/**
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*
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*/
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void loop() {
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if (!capture_still()) {
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Serial.println("Failed capture");
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delay(3000);
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return;
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}
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if (motion_detect()) {
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Serial.println("Motion detected");
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}
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update_frame();
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Serial.println("=================");
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}
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/**
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*
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*/
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bool setup_camera(framesize_t frameSize) {
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camera_config_t config;
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config.ledc_channel = LEDC_CHANNEL_0;
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config.ledc_timer = LEDC_TIMER_0;
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config.pin_d0 = Y2_GPIO_NUM;
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config.pin_d1 = Y3_GPIO_NUM;
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config.pin_d2 = Y4_GPIO_NUM;
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config.pin_d3 = Y5_GPIO_NUM;
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config.pin_d4 = Y6_GPIO_NUM;
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config.pin_d5 = Y7_GPIO_NUM;
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config.pin_d6 = Y8_GPIO_NUM;
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config.pin_d7 = Y9_GPIO_NUM;
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config.pin_xclk = XCLK_GPIO_NUM;
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config.pin_pclk = PCLK_GPIO_NUM;
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config.pin_vsync = VSYNC_GPIO_NUM;
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config.pin_href = HREF_GPIO_NUM;
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config.pin_sscb_sda = SIOD_GPIO_NUM;
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config.pin_sscb_scl = SIOC_GPIO_NUM;
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config.pin_pwdn = PWDN_GPIO_NUM;
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config.pin_reset = RESET_GPIO_NUM;
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config.xclk_freq_hz = 20000000;
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config.pixel_format = PIXFORMAT_GRAYSCALE;
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config.frame_size = frameSize;
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config.jpeg_quality = 12;
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config.fb_count = 1;
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bool ok = esp_camera_init(&config) == ESP_OK;
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sensor_t *sensor = esp_camera_sensor_get();
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sensor->set_framesize(sensor, frameSize);
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return ok;
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}
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/**
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* Capture image and do down-sampling
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*/
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bool capture_still() {
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camera_fb_t *frame_buffer = esp_camera_fb_get();
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if (!frame_buffer)
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return false;
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// set all 0s in current frame
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for (int y = 0; y < H; y++)
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for (int x = 0; x < W; x++)
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current_frame[y][x] = 0;
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// down-sample image in blocks
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for (uint32_t i = 0; i < WIDTH * HEIGHT; i++) {
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const uint16_t x = i % WIDTH;
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const uint16_t y = floor(i / WIDTH);
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const uint8_t block_x = floor(x / BLOCK_SIZE);
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const uint8_t block_y = floor(y / BLOCK_SIZE);
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const uint8_t pixel = frame_buffer->buf[i];
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const uint16_t current = current_frame[block_y][block_x];
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// average pixels in block (accumulate)
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current_frame[block_y][block_x] += pixel;
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}
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// average pixels in block (rescale)
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for (int y = 0; y < H; y++)
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for (int x = 0; x < W; x++)
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current_frame[y][x] /= BLOCK_SIZE * BLOCK_SIZE;
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#if DEBUG
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Serial.println("Current frame:");
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print_frame(current_frame);
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Serial.println("---------------");
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#endif
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return true;
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}
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/**
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* Compute the number of different blocks
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* If there are enough, then motion happened
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*/
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bool motion_detect() {
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uint16_t changes = 0;
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const uint16_t blocks = (WIDTH * HEIGHT) / (BLOCK_SIZE * BLOCK_SIZE);
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for (int y = 0; y < H; y++) {
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for (int x = 0; x < W; x++) {
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float current = current_frame[y][x];
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float prev = prev_frame[y][x];
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float delta = abs(current - prev) / prev;
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if (delta >= BLOCK_DIFF_THRESHOLD) {
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#if DEBUG
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Serial.print("diff\t");
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Serial.print(y);
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Serial.print('\t');
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Serial.println(x);
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#endif
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changes += 1;
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}
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}
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}
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Serial.print("Changed ");
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Serial.print(changes);
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Serial.print(" out of ");
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Serial.println(blocks);
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return (1.0 * changes / blocks) > IMAGE_DIFF_THRESHOLD;
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}
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/**
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* Copy current frame to previous
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*/
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void update_frame() {
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for (int y = 0; y < H; y++) {
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for (int x = 0; x < W; x++) {
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prev_frame[y][x] = current_frame[y][x];
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}
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}
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}
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/**
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* For serial debugging
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* @param frame
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*/
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void print_frame(uint16_t frame[H][W]) {
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for (int y = 0; y < H; y++) {
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for (int x = 0; x < W; x++) {
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Serial.print(frame[y][x]);
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Serial.print('\t');
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}
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Serial.println();
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}
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}
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#if defined(CAMERA_MODEL_WROVER_KIT)
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#define PWDN_GPIO_NUM -1
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#define RESET_GPIO_NUM -1
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#define XCLK_GPIO_NUM 21
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#define SIOD_GPIO_NUM 26
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#define SIOC_GPIO_NUM 27
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#define Y9_GPIO_NUM 35
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#define Y8_GPIO_NUM 34
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#define Y7_GPIO_NUM 39
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#define Y6_GPIO_NUM 36
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#define Y5_GPIO_NUM 19
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#define Y4_GPIO_NUM 18
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#define Y3_GPIO_NUM 5
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#define Y2_GPIO_NUM 4
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#define VSYNC_GPIO_NUM 25
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#define HREF_GPIO_NUM 23
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#define PCLK_GPIO_NUM 22
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#elif defined(CAMERA_MODEL_ESP_EYE)
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#define PWDN_GPIO_NUM -1
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#define RESET_GPIO_NUM -1
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#define XCLK_GPIO_NUM 4
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#define SIOD_GPIO_NUM 18
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#define SIOC_GPIO_NUM 23
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#define Y9_GPIO_NUM 36
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#define Y8_GPIO_NUM 37
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#define Y7_GPIO_NUM 38
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#define Y6_GPIO_NUM 39
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#define Y5_GPIO_NUM 35
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#define Y4_GPIO_NUM 14
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#define Y3_GPIO_NUM 13
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#define Y2_GPIO_NUM 34
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#define VSYNC_GPIO_NUM 5
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#define HREF_GPIO_NUM 27
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#define PCLK_GPIO_NUM 25
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#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
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#define PWDN_GPIO_NUM -1
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#define RESET_GPIO_NUM 15
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#define XCLK_GPIO_NUM 27
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#define SIOD_GPIO_NUM 25
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#define SIOC_GPIO_NUM 23
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#define Y9_GPIO_NUM 19
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#define Y8_GPIO_NUM 36
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#define Y7_GPIO_NUM 18
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#define Y6_GPIO_NUM 39
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#define Y5_GPIO_NUM 5
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#define Y4_GPIO_NUM 34
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#define Y3_GPIO_NUM 35
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#define Y2_GPIO_NUM 32
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#define VSYNC_GPIO_NUM 22
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#define HREF_GPIO_NUM 26
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#define PCLK_GPIO_NUM 21
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#elif defined(CAMERA_MODEL_M5STACK_WIDE)
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#define PWDN_GPIO_NUM -1
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#define RESET_GPIO_NUM 15
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#define XCLK_GPIO_NUM 27
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#define SIOD_GPIO_NUM 22
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#define SIOC_GPIO_NUM 23
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#define Y9_GPIO_NUM 19
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#define Y8_GPIO_NUM 36
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#define Y7_GPIO_NUM 18
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#define Y6_GPIO_NUM 39
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#define Y5_GPIO_NUM 5
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#define Y4_GPIO_NUM 34
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#define Y3_GPIO_NUM 35
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#define Y2_GPIO_NUM 32
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#define VSYNC_GPIO_NUM 25
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#define HREF_GPIO_NUM 26
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#define PCLK_GPIO_NUM 21
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#elif defined(CAMERA_MODEL_AI_THINKER)
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#define PWDN_GPIO_NUM 32
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#define RESET_GPIO_NUM -1
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#define XCLK_GPIO_NUM 0
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#define SIOD_GPIO_NUM 26
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#define SIOC_GPIO_NUM 27
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#define Y9_GPIO_NUM 35
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#define Y8_GPIO_NUM 34
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#define Y7_GPIO_NUM 39
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#define Y6_GPIO_NUM 36
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#define Y5_GPIO_NUM 21
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#define Y4_GPIO_NUM 19
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#define Y3_GPIO_NUM 18
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#define Y2_GPIO_NUM 5
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#define VSYNC_GPIO_NUM 25
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#define HREF_GPIO_NUM 23
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#define PCLK_GPIO_NUM 22
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#else
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#error "Camera model not selected"
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#endif

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