You might want to check out OpenMV Cam which does some cool machine vision stuff and runs MicroPython.
I would probably start looking at OpenCV software for RasPi if you need more processing power.
I’ve been playing with ESP32 lately. I’m frankly kind of shocked at how well documented the API is and how well it all works. And it’s mostly open. I haven’t done anything with ESP32 Cams I bought, yet. No idea what is possible there or where to start.
Hopefully that helps.
Meanwhile I’m over here trying to wrap up a simple Bluetooth-enabled amp project for the last couple months lol. I should do more with machine vision.