ci(runner): Save image from camera

.github/workflows/build-run-applications.yml

@@ -1,4 +1,4 @@
-name: Build ESP-BSP apps
+name: Build and Run ESP-BSP apps
 
 # This job builds all examples and test_applications in this repo
 # Applications are selected for build based on changes files and dependencies defined in .build-test-rules.yml
@@ -47,30 +47,30 @@ jobs:
           - idf_ver: "latest"
             parallel_count: 5
             parallel_index: 5
-          - idf_ver: "release-v5.1"
-            parallel_count: 2
-            parallel_index: 1
-          - idf_ver: "release-v5.1"
-            parallel_count: 2
-            parallel_index: 2
-          - idf_ver: "release-v5.2"
-            parallel_count: 2
-            parallel_index: 1
-          - idf_ver: "release-v5.2"
-            parallel_count: 2
-            parallel_index: 2
-          - idf_ver: "release-v5.3"
-            parallel_count: 2
-            parallel_index: 1
-          - idf_ver: "release-v5.3"
-            parallel_count: 2
-            parallel_index: 2
-          - idf_ver: "release-v5.4"
-            parallel_count: 2
-            parallel_index: 1
-          - idf_ver: "release-v5.4"
-            parallel_count: 2
-            parallel_index: 2
+          #- idf_ver: "release-v5.1"
+          #  parallel_count: 2
+          #  parallel_index: 1
+          #- idf_ver: "release-v5.1"
+          #  parallel_count: 2
+          #  parallel_index: 2
+          #- idf_ver: "release-v5.2"
+          #  parallel_count: 2
+          #  parallel_index: 1
+          #- idf_ver: "release-v5.2"
+          #  parallel_count: 2
+          #  parallel_index: 2
+          #- idf_ver: "release-v5.3"
+          #  parallel_count: 2
+          #  parallel_index: 1
+          #- idf_ver: "release-v5.3"
+          #  parallel_count: 2
+          #  parallel_index: 2
+          #- idf_ver: "release-v5.4"
+          #  parallel_count: 2
+          #  parallel_index: 1
+          #- idf_ver: "release-v5.4"
+          #  parallel_count: 2
+          #  parallel_index: 2
     runs-on: ubuntu-latest
     container: espressif/idf:${{ matrix.idf_ver }}
     steps:
@@ -124,60 +124,60 @@ jobs:
           - runs-on: "esp-box-3"
             marker: "esp_box_3"
             target: "esp32s3"
-          - runs-on: "esp32_c3_lcdkit"
-            marker: "esp32_c3_lcdkit"
-            target: "esp32c3"
-          - runs-on: "esp32_p4_box"
-            marker: "esp32_p4_box"
-            target: "esp32p4"
-          - runs-on: "esp32_p4_function_ev_board"
-            marker: "esp32_p4_function_ev_board"
-            target: "esp32p4"
-          - runs-on: "esp32_s3_eye"
-            marker: "esp32_s3_eye"
-            target: "esp32s3"
-          - runs-on: "esp32_s3_lcd_ev_board"
-            marker: "esp32_s3_lcd_ev_board"
-            target: "esp32s3"
-          - runs-on: "esp32_s3_lcd_ev_board"
-            marker: "esp32_s3_lcd_ev_board_2"
-            target: "esp32s3"
-          - runs-on: "esp32_s3_usb_otg"
-            marker: "esp32_s3_usb_otg"
-            target: "esp32s3"
-          - runs-on: "esp_wrover_kit"
-            marker: "esp_wrover_kit"
-            target: "esp32"
-          - runs-on: "m5dial"
-            marker: "m5dial"
-            target: "esp32s3"
-          - runs-on: "m5stack_core"
-            marker: "m5stack_core"
-            target: "esp32"
-          - runs-on: "m5stack_core_2"
-            marker: "m5stack_core_2"
-            target: "esp32"
-          - runs-on: "m5stack_core_s3"
-            marker: "m5stack_core_s3"
-            target: "esp32s3"
-          - runs-on: "m5stack_core_s3"
-            marker: "m5stack_core_s3_se"
-            target: "esp32s3"
-          - runs-on: "esp32_azure_iot_kit"
-            marker: "esp32_azure_iot_kit"
-            target: "esp32"
-          - runs-on: "esp_bsp_devkit"
-            marker: "esp_bsp_devkit"
-            target: "esp32s3"
-          - runs-on: "esp_bsp_generic"
-            marker: "esp_bsp_generic"
-            target: "esp32s3"
-          - runs-on: "esp32_s3_korvo_2"
-            marker: "esp32_s3_korvo_2"
-            target: "esp32s3"
-          - runs-on: "m5_atom_s3"
-            marker: "m5_atom_s3"
-            target: "esp32s3"
+          #- runs-on: "esp32_c3_lcdkit"
+          #  marker: "esp32_c3_lcdkit"
+          #  target: "esp32c3"
+          #- runs-on: "esp32_p4_box"
+          #  marker: "esp32_p4_box"
+          #  target: "esp32p4"
+          #- runs-on: "esp32_p4_function_ev_board"
+          #  marker: "esp32_p4_function_ev_board"
+          #  target: "esp32p4"
+          #- runs-on: "esp32_s3_eye"
+          #  marker: "esp32_s3_eye"
+          #  target: "esp32s3"
+          #- runs-on: "esp32_s3_lcd_ev_board"
+          #  marker: "esp32_s3_lcd_ev_board"
+          #  target: "esp32s3"
+          #- runs-on: "esp32_s3_lcd_ev_board"
+          #  marker: "esp32_s3_lcd_ev_board_2"
+          #  target: "esp32s3"
+          #- runs-on: "esp32_s3_usb_otg"
+          #  marker: "esp32_s3_usb_otg"
+          #  target: "esp32s3"
+          #- runs-on: "esp_wrover_kit"
+          #  marker: "esp_wrover_kit"
+          #  target: "esp32"
+          #- runs-on: "m5dial"
+          #  marker: "m5dial"
+          #  target: "esp32s3"
+          #- runs-on: "m5stack_core"
+          #  marker: "m5stack_core"
+          #  target: "esp32"
+          #- runs-on: "m5stack_core_2"
+          #  marker: "m5stack_core_2"
+          #  target: "esp32"
+          #- runs-on: "m5stack_core_s3"
+          #  marker: "m5stack_core_s3"
+          #  target: "esp32s3"
+          #- runs-on: "m5stack_core_s3"
+          #  marker: "m5stack_core_s3_se"
+          #  target: "esp32s3"
+          #- runs-on: "esp32_azure_iot_kit"
+          #  marker: "esp32_azure_iot_kit"
+          #  target: "esp32"
+          #- runs-on: "esp_bsp_devkit"
+          #  marker: "esp_bsp_devkit"
+          #  target: "esp32s3"
+          #- runs-on: "esp_bsp_generic"
+          #  marker: "esp_bsp_generic"
+          #  target: "esp32s3"
+          #- runs-on: "esp32_s3_korvo_2"
+          #  marker: "esp32_s3_korvo_2"
+          #  target: "esp32s3"
+          #- runs-on: "m5_atom_s3"
+          #  marker: "m5_atom_s3"
+          #  target: "esp32s3"
     env:
       TEST_RESULT_NAME: test_results_${{ matrix.runner.target }}_${{ matrix.runner.marker }}_${{ matrix.idf_ver }}
       BENCHMARK_RESULT_NAME: benchmark_${{ matrix.runner.target }}_${{ matrix.runner.marker }}_${{ matrix.idf_ver }}
@@ -197,7 +197,9 @@ jobs:
         env:
           PIP_EXTRA_INDEX_URL: "https://dl.espressif.com/pypi/"
         run: |
-          pip install --prefer-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code
+          pip install --prefer-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code opencv-python numpy
+          apt-get update && apt-get install -y libgl1
+          apt-get update && apt-get install -y v4l-utils
       - name: Download latest results
         uses: actions/download-artifact@v4
         with:
@@ -216,6 +218,7 @@ jobs:
             benchmark_*.md
             benchmark_*.json
             benchmark.json
+            *.jpg
       - name: Check if benchmark files exist
         id: check_files
         run: |

conftest.py

@@ -1,6 +1,11 @@
-# SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
 import pytest
+import cv2
+import subprocess
+import numpy as np
+import time
+from pathlib import Path
 
 
 def pytest_generate_tests(metafunc):
@@ -38,3 +43,99 @@ def pytest_collection_modifyitems(config, items):
         marker_option = "[" + config.getoption("-m") + "]"
         if marker_option not in item.nodeid:
             item.add_marker(pytest.mark.skip(reason="Not for selected params"))
+
+
+def bsp_image_correction(image, width, height):
+    pts_src = np.float32([
+        [160, 80],    # top-left
+        [1044, 87],   # top-right
+        [279, 720],    # bottom-left
+        [913, 718]   # bottom-right
+    ])
+
+    pts_dst = np.float32([
+        [0, 0],
+        [width, 0],
+        [0, height],
+        [width, height]
+    ])
+
+    matrix = cv2.getPerspectiveTransform(pts_src, pts_dst)
+    warped = cv2.warpPerspective(image, matrix, (width, height))
+    return warped
+
+
+def bsp_fisheye_correction(image, width, height):
+    K = np.array([
+        [width, 0, width / 2],    # Focal length x
+        [0, width, height / 2],    # Focal length y
+        [0, 0, 1]])       # Principal point
+    # [k1, k2, p1, p2, k3] - main is k1 a k2
+    dist_coeffs = np.array([-0.3, 0.1, 0, 0, 0])
+
+    new_K, _ = cv2.getOptimalNewCameraMatrix(K, dist_coeffs, (width, height), 1, (width, height))
+    map1, map2 = cv2.initUndistortRectifyMap(K, dist_coeffs, None, new_K, (width, height), 5)
+    undistorted = cv2.remap(image, map1, map2, interpolation=cv2.INTER_LINEAR)
+
+    return undistorted
+
+
+def bsp_capture_image(image_path, board):
+    # Enable auto-focus
+    # subprocess.run(["v4l2-ctl", "-d", "/dev/video0", "--set-ctrl=focus_auto=1"])
+    # Manual focus
+    subprocess.run(["v4l2-ctl", "-d", "/dev/video0", "--set-ctrl=focus_auto=0"])
+    subprocess.run(["v4l2-ctl", "-d", "/dev/video0", "--set-ctrl=focus_absolute=50"])
+    # Manual exposition
+    subprocess.run(["v4l2-ctl", "-d", "/dev/video0", "--set-ctrl=exposure_auto=1"])
+    subprocess.run(["v4l2-ctl", "-d", "/dev/video0", "--set-ctrl=exposure_absolute=1"])
+
+    # Return video from the first webcam on your computer.
+    cap = cv2.VideoCapture(0)
+    # Set FullHD resolution (1920x1080)
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
+
+    # TODO: Camera calibration
+
+    # reads frames from a camera
+    # ret checks return at each frame
+    ret, frame = cap.read()
+    if ret:
+        # Image rotation
+        frame = cv2.rotate(frame, cv2.ROTATE_180)
+        # TODO: Camera calibration / Perspective transform
+        # TODO: Change size image
+        # TODO: Crop image for {board}
+
+        # correction image perspective and crop
+        frame = bsp_image_correction(frame, 1000, 884)
+        # correction of fisheye
+        frame = bsp_fisheye_correction(frame, 1000, 884)
+        # crop
+        frame = frame[30:848, 38:980]
+
+        # Save image
+        cv2.imwrite(image_path, frame)
+        print(f"Image saved {image_path}")
+    else:
+        print("Cannot save image.")
+
+    # Close the window / Release webcam
+    cap.release()
+
+
+def bsp_test_image(board, example, expectation):
+    image_file = f"snapshot_{board}_{example}.jpg"
+    bsp_capture_image(image_file, board)
+
+
+@pytest.fixture()
+def bsp_test_capture_image(request):
+    board = request.node.callspec.id
+    path = Path(str(request.node.fspath))
+    test_name = path.parent.name
+    yield
+    time.sleep(5)  # wait 5 seconds
+    print(f"Capturing image for: {board}")
+    bsp_test_image(board, test_name, "")

examples/display/pytest_display.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 
 import pytest
@@ -20,6 +20,6 @@
 @pytest.mark.m5stack_core_s3
 @pytest.mark.m5stack_core_s3_se
 @pytest.mark.m5_atom_s3
-def test_display_example(dut: Dut) -> None:
+def test_display_example(dut: Dut, bsp_test_capture_image) -> None:
     dut.expect_exact('example: Display LVGL animation')
     dut.expect_exact('main_task: Returned from app_main()')

examples/display_lvgl_demos/pytest_display_lvgl_demos.py

@@ -13,6 +13,6 @@
 @pytest.mark.m5dial
 @pytest.mark.m5stack_core_s3
 @pytest.mark.m5stack_core_s3_se
-def test_display_example(dut: Dut) -> None:
+def test_display_example(dut: Dut, bsp_test_capture_image) -> None:
     dut.expect_exact('app_main: Display LVGL demo')
     dut.expect_exact('main_task: Returned from app_main()')