esp32-camera by DorBenHarush · Pull Request #26 · micro-ROS/freertos_apps

DorBenHarush · 2020-08-11T18:29:08Z

Example app for publishing information from camera
add camera option to menuconfig and allowing it.

Signed-off-by: Dor Ben Harush [email protected]

* Example app for publishing information from camera * add camera option to menuconfig and allowing it.

ralph-lange · 2020-08-11T18:59:04Z

Thank you very much for your contribution, @DorBenHarush. In order for this pull request to be merged, please sign-off your commit (git commit --amend --signoff) and add another commit in which you add your name to the NOTICE file in the root of the repository. Please also pay attention to the notes in NOTICE and CONTRIBUTING.md regarding the ownership of the code you are contributing.

ralph-lange · 2020-08-11T19:29:03Z

Don't forget the sign-off tag, please, which requires a force push (git push -f) as you changed the commit messages.

donRaphaco · 2020-08-12T10:31:44Z

relates to micro-ROS/micro_ros_setup/pull/176

donRaphaco

I tested the example on my esp32-cam board and had no problems there.

donRaphaco · 2020-08-12T10:40:31Z

apps/take_picture/app.c

+#define BOARD_WROVER_KIT
+#define BOARD_ESP32CAM_AITHINKER


Is it possible to add an option in menuconfig where one board is selected?

According to espressif the only difference is in the sdkconfig.defaults file.
In this line : CONFIG_ESP32_SPIRAM_SUPPORT=y
the line can be added menually like I did or it can be added in the menuconfig (Enable PSRAM).
Src: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/build-system.html#selecting-idf-target
and https://github.com/espressif/esp32-camera

Sorry I should have been more precise.
What I mean is that there are two defines here #define BOARD_WROVER_KIT and #define BOARD_ESP32CAM_AITHINKER they define which camera pinout to use (see Lines 35-79 ) and should be mutually exclusive.
Therefore I suggest to add an option to menuconfig where one of the two can be selected, which would also make it easier to add a new camera pinout for example the ESP-EYE development board.

Check my last commit I added the option to choose camera pinout.

donRaphaco · 2020-08-12T10:48:06Z

apps/take_picture/app.c

@@ -0,0 +1,197 @@
+/**
+ * This example takes a picture every 5s.
+   Example src: https://github.com/espressif/esp32-camera.git 


@ralph-lange parts from this example come from the example here. Do we need to mention that in 3rd-party-licenses.txt?
The license there is also Apache 2.0

Yes, all details (version, copyright statement, original license text) have to be provided in the 3rd-party-licenses.txt file, please. Furthermore, a short summary (one list item with one or two sentences) should go into the License section in README.md.

* Now it is possible to choose camera pinout in the menuconfig Signed-off-by: Dor Ben Harush [email protected]

apps/take_picture/app.c

pablogs9 · 2020-08-24T07:28:15Z

apps/take_picture/app.c

+		rclc_executor_spin_some(&executor, 100);
+		usleep(100000);
+		//takes picture
+        pic = esp_camera_fb_get();


Indentation

DorBenHarush · 2020-09-01T16:08:43Z

Now, after this issue is solved i intend to create a new rclc_demo for the esp32camera.
I'll change the program here to an image publisher instead of image_size and the rclc_demo will receive the images.
I'll commit the changes in a few days.

suggestions and advices are welcomed.

pablogs9 · 2020-09-21T05:16:08Z

Hello @DorBenHarush this the last commit solves micro-ROS/micro_ros_setup#187?

Please be aware that RMW_UXRCE_STREAM_HISTORY is related to the size of the middleware buffer and RMW_UXRCE_MAX_HISTORY only sets the available slots of the RMW incoming buffers.

DorBenHarush · 2020-09-21T10:14:40Z

Hi @pablogs9, No this coomit raises the issue. I have noticed that RMW_UXRCE_MAX_HISTORY matchs with the value inside colcon.meta while UXR_CONFIG_UDP_TRANSPORT_MTU doesnt.

this line : CONFIG_ESP32_SPIRAM_SUPPORT=y create a problem while creating firmware for esp32. Enable SPIRAM in `menuconfig`: Component config > ESP32-specific

DorBenHarush · 2020-10-28T20:46:36Z

I have decided to change the pixel_format to jpeg to increase the resulution. In order to view the images I created a cv_bridge.
bridge:

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import CompressedImage
import cv2
import numpy as np




class MinimalSubscriber(Node):

    def __init__(self, ):
        super().__init__('minimal_subscriber')
        self.subscription = self.create_subscription(CompressedImage, 'freertos_picture_publisher', self.listener_callback, 10)
        self.subscription  # prevent unused variable warning 
        self.bridge = CvBridge()
    def listener_callback(self, image_message):
        self.get_logger().info('recieved an image')
        
    	#recieve image and co nvert to cv2 image
        cv2.imshow('esp32_image', self.cv_image)
        cv2.waitKey(3)

        


def main(args=None):
    rclpy.init(args=args)
    minimal_subscriber = MinimalSubscriber()
    
    rclpy.spin(minimal_subscriber)
    minimal_subscriber.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
   main()`

pablogs9 · 2020-10-29T15:13:44Z

microros_esp32_extensions/main/Kconfig.projbuild

+endmenu
+
+
+	menu "Camera configuration"


Is there a possibility that we can set this as an application-specific configuration?

I have opened a PR for this here. if approved the full camera configurion will be inside the menuconfig only when esp32-camera repository is in the components directory (esp-idf/components).

pablogs9 · 2020-10-29T15:13:52Z

microros_esp32_extensions/sdkconfig.defaults

 CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
 CONFIG_FREERTOS_UNICORE=y
 CONFIG_ESP_TASK_WDT=n
+CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC=y


Is there a possibility that we can set this as an application-specific configuration?

Related to: micro-ROS/micro_ros_setup#176 (comment)

Maybe we can just explain how to configure this in the app README.md.

I'll write a detailed REAMDE.md and add it to app.

esp32-camera

33cb6f8

* Example app for publishing information from camera * add camera option to menuconfig and allowing it.

Update NOTICE

54e2aae

donRaphaco mentioned this pull request Aug 12, 2020

support for esp32-camera with freertos micro-ROS/micro_ros_setup#176

Open

donRaphaco reviewed Aug 12, 2020

View reviewed changes

Add camera pinout choice

9b509c0

* Now it is possible to choose camera pinout in the menuconfig Signed-off-by: Dor Ben Harush [email protected]

pablogs9 requested changes Aug 24, 2020

View reviewed changes

apps/take_picture/app.c Outdated Show resolved Hide resolved

apps/take_picture/app.c Outdated Show resolved Hide resolved

apps/take_picture/app.c Outdated Show resolved Hide resolved

DorBenHarush added 3 commits August 24, 2020 09:03

Update app.c

2353ab1

Update app.c

b9d4f39

Update app.c

90bf0d2

pablogs9 requested changes Aug 24, 2020

View reviewed changes

Update app.c

f147960

DorBenHarush added 2 commits September 19, 2020 13:16

Update app-colcon.meta

a10820d

Update app.c

02846fa

DorBenHarush added 4 commits September 30, 2020 04:48

Update sdkconfig.defaults

1dfd87c

this line : CONFIG_ESP32_SPIRAM_SUPPORT=y create a problem while creating firmware for esp32. Enable SPIRAM in `menuconfig`: Component config > ESP32-specific

Update Kconfig.projbuild

7e80a48

Update sdkconfig.defaults

a34c235

compressed image instead of raw

0c340fc

DorBenHarush requested a review from pablogs9 October 28, 2020 20:48

pablogs9 reviewed Oct 29, 2020

View reviewed changes

DorBenHarush added 4 commits October 29, 2020 20:14

Update app.c

4fa0c53

create new README.md

0013334

Update README.md

29b858c

Update view_images.py

73c7f07

DorBenHarush mentioned this pull request Oct 30, 2020

update Kconfig and esp32_camera.h espressif/esp32-camera#194

Closed

pablogs9 force-pushed the foxy branch 2 times, most recently from f08eeed to fcd886e Compare January 25, 2021 14:01

		#define BOARD_WROVER_KIT
		#define BOARD_ESP32CAM_AITHINKER

Conversation

DorBenHarush commented Aug 11, 2020 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

ralph-lange commented Aug 11, 2020

Uh oh!

ralph-lange commented Aug 11, 2020

Uh oh!

donRaphaco commented Aug 12, 2020

Uh oh!

donRaphaco left a comment

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

DorBenHarush Aug 12, 2020 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

DorBenHarush commented Sep 1, 2020 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

pablogs9 commented Sep 21, 2020 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

DorBenHarush commented Sep 21, 2020

Uh oh!

DorBenHarush commented Oct 28, 2020 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

DorBenHarush commented Aug 11, 2020 •

edited

Loading

DorBenHarush Aug 12, 2020 •

edited

Loading

DorBenHarush commented Sep 1, 2020 •

edited

Loading

pablogs9 commented Sep 21, 2020 •

edited

Loading

DorBenHarush commented Oct 28, 2020 •

edited

Loading