esp32cam摄像头报错

ch20220103

最近在学摄像头，想用摄像头做一个循迹的功能，运用的EloquentArduino这个库，连接如下：eloquentarduino · GitHub，我已经将像素点调的很小了，但还是会报错
代码如下
#define CAMERA_MODEL_AI_THINKER

#include "esp_camera.h"
#include "camera_pins.h"

#define FRAME_SIZE FRAMESIZE_QVGA
#define WIDTH 320
#define HEIGHT 240
#define BLOCK_SIZE 20
#define W (WIDTH / BLOCK_SIZE)
#define H (HEIGHT / BLOCK_SIZE)
#define BLOCK_DIFF_THRESHOLD 0.2
#define IMAGE_DIFF_THRESHOLD 0.1
#define DEBUG 1


uint16_t prev_frame[H][W] = { 0 };
uint16_t current_frame[H][W] = { 0 };


bool setup_camera(framesize_t);
bool capture_still();
void print_frame(uint16_t frame[H][W]);
int Xunji();


/**
*
*/
void setup() {
    Serial.begin(115200);
    Serial.println(setup_camera(FRAME_SIZE) ? "OK" : "ERR INIT");
}

/**
*
*/
void loop() {
    if (!capture_still()) {
        Serial.println("Failed capture");
        delay(3000);
        return;
    }
    Serial.println("=================");
}


/**
*
*/
bool setup_camera(framesize_t frameSize) {
    camera_config_t config;

    config.ledc_channel = LEDC_CHANNEL_0;
    config.ledc_timer = LEDC_TIMER_0;
    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_sscb_sda = SIOD_GPIO_NUM;
    config.pin_sscb_scl = SIOC_GPIO_NUM;
    config.pin_pwdn = PWDN_GPIO_NUM;
    config.pin_reset = RESET_GPIO_NUM;
    config.xclk_freq_hz = 20000000;
    config.pixel_format = PIXFORMAT_GRAYSCALE;
    config.frame_size = frameSize;
    config.jpeg_quality = 12;
    config.fb_count = 1;

    bool ok = esp_camera_init(&config) == ESP_OK;

    sensor_t *sensor = esp_camera_sensor_get();
    sensor->set_framesize(sensor, frameSize);

    return ok;
}

/**
* Capture image and do down-sampling
*/
bool capture_still() {
    camera_fb_t *frame_buffer = esp_camera_fb_get();

    if (!frame_buffer)
        return false;

    // set all 0s in current frame
    for (int y = 0; y < H; y++)
        for (int x = 0; x < W; x++)
            current_frame[y][x] = 0;


    // down-sample image in blocks
    for (uint32_t i = 0; i < WIDTH * HEIGHT; i++) {
        const uint16_t x = i % WIDTH;
        const uint16_t y = floor(i / WIDTH);
        const uint8_t block_x = floor(x / BLOCK_SIZE);
        const uint8_t block_y = floor(y / BLOCK_SIZE);
        const uint8_t pixel = frame_buffer->buf[i];
        const uint16_t current = current_frame[block_y][block_x];

        // average pixels in block (accumulate)
        current_frame[block_y][block_x] += pixel;
    }

    // average pixels in block (rescale)
    for (int y = 0; y < H; y++)
        for (int x = 0; x < W; x++)
            current_frame[y][x] /= BLOCK_SIZE * BLOCK_SIZE;

#if DEBUG
    Xunji();
    //Serial.println("Current frame:");
    //print_frame(current_frame);
    //Serial.println("---------------");
#endif

    esp_camera_fb_return(frame_buffer);
    return true;
}


/**
* For serial debugging
* @param frame
*/
void print_frame(uint16_t frame[H][W]) {
    Serial.print('[');
    for (int y = 0; y < H; y++) {
        Serial.print('[');
        for (int x = 0; x < W; x++) {
            Serial.print(frame[y][x]);
            Serial.print(',');
        }
        Serial.print(']');
        Serial.print(',');
        Serial.println();
    }
    Serial.print(']');
}
int Xunji(){
    int sumx=0,sumy=0,ave[H],num=0,flg;
    for (int y = 0; y < H; y++) {
        for (int x = 0; x < W; x++) {
            if(current_frame[y][x]<=100)
            {
              sumx=sumx+x;
              num=num+1;
            }
        }
    ave[y]=sumx/num;
    sumx=0;
    num=0;
    }
   for (int y = 0; y < H; y++){
        sumy=sumy+ave[y];
   }
   flg=sumy/H;   
   if(flg>(W/2)){
      Serial.println("左");         
   }
   if(flg<(W/2)){
      Serial.println("右");         
   }
return flg;
}

叶菊兰