Camera interface with a microcontroller

I want to interface OV5642 non FIFO with a microcontroller (preferrably esp32) to capture and send images over wifi. I need atleast 5MP camera and the overall hardware must be less than 15$. Can anyone help me with the same? I couldn't find the code for interfacing the camera without the shield.

I need atleast 5MP camera and the overall hardware must be less than 15$.

Good luck with that set of restrictions. Your time in developing the project must be worth something less than $0.03 an hour.

I couldn't find the code for interfacing the camera without the shield.

A shield makes connecting the hardware easier. It has no impact on the code.