AI on the Edge LESSON 34 SUPPLEMENT: Simple Improvement to FPS

In this video I show you how to dramatically improve the FPS of our work in lesson 34. I also show the solution to the issue of the Fusion Hat microphone not working with the project.

import cv2
import time
from picamera2 import Picamera2
#########################################
import threading
from queue import Queue
from fusion_hat.tts import Piper
tts = Piper()
tts.set_model('en_US-kristin-medium')

from fusion_hat.stt import STT
stt = STT('en-us')

cnt = 0
running = True
commandQ = Queue()
speakQ = Queue()
###########################################

from fusion_hat.servo import Servo
panPin = 2
tiltPin = 3
panServo = Servo(panPin)
tiltServo = Servo(tiltPin)
panAngle = -10
tiltAngle =-20
panServo.angle(panAngle)
tiltServo.angle(tiltAngle)
piCam = Picamera2(1)
W=1280
H=720
tStart = time.time()
fps = 0
RES = (W,H)
piCam.preview_configuration.main.size = RES
piCam.preview_configuration.main.format = "RGB888"
piCam.preview_configuration.controls.FrameRate=60
piCam.preview_configuration.align()
piCam.configure("preview")
piCam.start()

textLowerLeft = (int(W*.01),int(H*.05))
fontFace = cv2.FONT_HERSHEY_SIMPLEX
fontThickness = int(W/425)
fontScale = H*.0015
fontColor = (0,0,255)

faceFinder = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_frontalface_default.xml')
eyeFinder = cv2.CascadeClassifier(cv2.data.haarcascades + "haarcascade_eye.xml")

track = False
xFrameC = int((W-1)/2)
yFrameC = int((H-1)/2)
xBoxC = xFrameC
yBoxC = yFrameC
##########################################
def speak():
    global running
    print('Speak Thread Running')
    while running:
        if speakQ.empty() == False:
            txt = speakQ.get()
            print(txt)
            tts.say(txt)
        time.sleep(.1)
    print('Speak Thread is Terminated')
    print('')
def getCommand():
    print('Get Command Thread is Running')
    global running
    while running:
        myCommand = stt.listen(stream = False)
        myCommand = myCommand.strip()
        print(myCommand)
        if myCommand == 'quit':
            msg = 'Project Humanoid Elimination Terminated. Have a Nice Day.'
            speakQ.put(msg)
            running = False
            break
        commandQ.put(myCommand)
    print('Get Command Thread Terminated')
    print('')

speakThread = threading.Thread(target=speak,daemon=True)
speakThread.start()

commandThread = threading.Thread(target=getCommand,daemon=True)
commandThread.start()
print('Main Program Has Commenced')
msg = 'Hello, I am Ready to Eliminate Humanoids'
speakQ.put(msg)
msgOld = 'Hello, I am Ready to Eliminate Humanoids'

cv2.namedWindow('Camera',cv2.WINDOW_GUI_NORMAL)
cv2.moveWindow('Camera',0,65)
cv2.resizeWindow('Camera',W,H)
############################################
while running:
    deltaT = time.time() - tStart
    tStart=time.time()
    fps = fps*.95 + (1/deltaT)*.05
    frame= piCam.capture_array()
    frame=cv2.flip(frame,-1)
    
    if commandQ.empty() == False:
        myCommand = commandQ.get()
        if myCommand == 'track':
            track = True
        if myCommand == 'release':
            track = False

    gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
    faces = faceFinder.detectMultiScale(gray,scaleFactor=1.1, minNeighbors =5, minSize=(100,100))
    if len(faces) != 0:
        cnt = 0 
        msg = "Humanoid Detected, Shall I track?"
    if len(faces) == 0:
        cnt = cnt + 1
        if cnt == 25:
            msg = "No Humanoid Detected, Continuing to Scan"
    if msgOld != msg:
        speakQ.put(msg)
    msgOld = msg
    for (x,y,w,h) in faces:
        cv2.rectangle(frame, (x,y),(x+w,y+h),(0,255,255),3)
        
        xBoxC = x + int(w/2)
        yBoxC = y + int(h/2)
        xError = xBoxC - xFrameC
        yError = yBoxC - yFrameC
        
        eyes =eyeFinder.detectMultiScale(gray[y:y+h,x:x+w],scaleFactor=1.1,minNeighbors=5,minSize=(15,15))
        for (i,j,w,h) in eyes:
            cv2.rectangle(frame,(x+i,y+j),(x+i+w,y+j+h),(255,0,0),3)
    
    if track == True and len(faces)>0:
        panAngle = panAngle - xError/50/2
        panServo.angle(int(panAngle))
        #time.sleep(.02)
        tiltAngle = tiltAngle + yError/50/2
        tiltServo.angle(int(tiltAngle))
        #time.sleep(.02)
                        
    
    myText = "FPS: "+str(round(fps,1))
    cv2.putText(frame,myText,textLowerLeft,fontFace,fontScale,fontColor,fontThickness)
    cv2.imshow("Camera", frame)
    cv2.moveWindow("Camera",0,60)
    if cv2.waitKey(1)==ord('q'):
        break
cv2.destroyAllWindows()
print('')
print('Program Terminated')

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

import cv2

import time

from picamera2 import Picamera2

#########################################

import threading

from queue import Queue

from fusion_hat.tts import Piper

tts = Piper()

tts.set_model('en_US-kristin-medium')

from fusion_hat.stt import STT

stt = STT('en-us')

cnt = 0

running = True

commandQ = Queue()

speakQ = Queue()

###########################################

from fusion_hat.servo import Servo

panPin = 2

tiltPin = 3

panServo = Servo(panPin)

tiltServo = Servo(tiltPin)

panAngle = -10

tiltAngle =-20

panServo.angle(panAngle)

tiltServo.angle(tiltAngle)

piCam = Picamera2(1)

W=1280

H=720

tStart = time.time()

fps = 0

RES = (W,H)

piCam.preview_configuration.main.size = RES

piCam.preview_configuration.main.format = "RGB888"

piCam.preview_configuration.controls.FrameRate=60

piCam.preview_configuration.align()

piCam.configure("preview")

piCam.start()

textLowerLeft = (int(W*.01),int(H*.05))

fontFace = cv2.FONT_HERSHEY_SIMPLEX

fontThickness = int(W/425)

fontScale = H*.0015

fontColor = (0,0,255)

faceFinder = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_frontalface_default.xml')

eyeFinder = cv2.CascadeClassifier(cv2.data.haarcascades + "haarcascade_eye.xml")

track = False

xFrameC = int((W-1)/2)

yFrameC = int((H-1)/2)

xBoxC = xFrameC

yBoxC = yFrameC

##########################################

def speak():

global running

print('Speak Thread Running')

while running:

if speakQ.empty() == False:

txt = speakQ.get()

print(txt)

tts.say(txt)

time.sleep(.1)

print('Speak Thread is Terminated')

print('')

def getCommand():

print('Get Command Thread is Running')

global running

while running:

myCommand = stt.listen(stream = False)

myCommand = myCommand.strip()

print(myCommand)

if myCommand == 'quit':

msg = 'Project Humanoid Elimination Terminated. Have a Nice Day.'

speakQ.put(msg)

running = False

break

commandQ.put(myCommand)

print('Get Command Thread Terminated')

print('')

speakThread = threading.Thread(target=speak,daemon=True)

speakThread.start()

commandThread = threading.Thread(target=getCommand,daemon=True)

commandThread.start()

print('Main Program Has Commenced')

msg = 'Hello, I am Ready to Eliminate Humanoids'

speakQ.put(msg)

msgOld = 'Hello, I am Ready to Eliminate Humanoids'

cv2.namedWindow('Camera',cv2.WINDOW_GUI_NORMAL)

cv2.moveWindow('Camera',0,65)

cv2.resizeWindow('Camera',W,H)

############################################

while running:

deltaT = time.time() - tStart

tStart=time.time()

fps = fps*.95 + (1/deltaT)*.05

frame= piCam.capture_array()

frame=cv2.flip(frame,-1)

if commandQ.empty() == False:

myCommand = commandQ.get()

if myCommand == 'track':

track = True

if myCommand == 'release':

track = False

gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)

faces = faceFinder.detectMultiScale(gray,scaleFactor=1.1, minNeighbors =5, minSize=(100,100))

if len(faces) != 0:

cnt = 0

msg = "Humanoid Detected, Shall I track?"

if len(faces) == 0:

cnt = cnt + 1

if cnt == 25:

msg = "No Humanoid Detected, Continuing to Scan"

if msgOld != msg:

speakQ.put(msg)

msgOld = msg

for (x,y,w,h) in faces:

cv2.rectangle(frame, (x,y),(x+w,y+h),(0,255,255),3)

xBoxC = x + int(w/2)

yBoxC = y + int(h/2)

xError = xBoxC - xFrameC

yError = yBoxC - yFrameC

eyes =eyeFinder.detectMultiScale(gray[y:y+h,x:x+w],scaleFactor=1.1,minNeighbors=5,minSize=(15,15))

for (i,j,w,h) in eyes:

cv2.rectangle(frame,(x+i,y+j),(x+i+w,y+j+h),(255,0,0),3)

if track == True and len(faces)>0:

panAngle = panAngle - xError/50/2

panServo.angle(int(panAngle))

#time.sleep(.02)

tiltAngle = tiltAngle + yError/50/2

tiltServo.angle(int(tiltAngle))

#time.sleep(.02)

myText = "FPS: "+str(round(fps,1))

cv2.putText(frame,myText,textLowerLeft,fontFace,fontScale,fontColor,fontThickness)

cv2.imshow("Camera", frame)

cv2.moveWindow("Camera",0,60)

if cv2.waitKey(1)==ord('q'):

break

cv2.destroyAllWindows()

print('')

print('Program Terminated')

Technology Tutorials

AI on the Edge LESSON 34 SUPPLEMENT: Simple Improvement to FPS

Making The World a Better Place One High Tech Project at a Time. Enjoy!