我从事物体检测和跟踪系统已有一段时间了。我尝试过在检测到有人时根据分辨率范围的宽度确定边界框的坐标来点亮LED。截至目前，当我没有插入串行通讯功能时，FPS约为30。但是，当我插入串行通讯时，fps会在7-10左右下降得太低。是什么引起了这里的问题？
操作系统= Windows
GPU = GTX 1070
CPU = i7
型号= Darkflow，yolov2
用于对象检测的代码。
import cv2
from darkflow.net.build import TFNet
import numpy as np
import time
from collections import namedtuple
import luggage_arduino
"""
Main system for running the whole script for object detection and tracking
"""
class NeuralNetwork:
def __init__(self):
"""Define model configuration and weight"""
options = {
'model': 'cfg/yolov2.cfg',
'load': 'bin/yolov2.weights',
'threshold': 0.8, # Sets the confidence level of detecting box, range from 0 to 1
'gpu': 0.8 # If do not want to use gpu, set to 0
}
"""Define OpenCV configuration"""
tfnet = TFNet(options)
colors = [tuple(255 * np.random.rand(3)) for _ in range(10)] # Set colors for different boxes
capture = cv2.VideoCapture(0, cv2.CAP_DSHOW)
capture.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
while True: # Main loop for object detection and tracking
stime = time.time()
ret, frame = capture.read()
box = cv2.rectangle(frame, (0, 0), (426, 720), (0, 0, 255), 2) # Parameter of first segment (LEFT)
box2 = cv2.rectangle(frame, (426, 0), (852, 720), (0, 0, 255), 2) # Parameter of second segment (CENTER)
box3 = cv2.rectangle(frame, (852, 0), (1280, 720), (0, 0, 255), 2) # Parameter of third segment (RIGHT)
if ret:
results = tfnet.return_predict(frame)
for color, result in zip(colors, results):
tl = (result['topleft']['x'], result['topleft']['y'])
br = (result['bottomright']['x'], result['bottomright']['y'])
label = result['label']
confidence = result['confidence']
text = '{}: {:.0f}%'.format(label, confidence * 100)
frame = cv2.rectangle(frame, tl, br, color, 5)
frame = cv2.putText(frame, text, tl, cv2.FONT_HERSHEY_COMPLEX, 1, (0, 0, 0), 2)
self.center_of_box(tl, br) # Calls the function for coordinate calculation
cv2.imshow('frame', frame)
print('FPS {:.1f}'.format(1 / (time.time() - stime)))
if cv2.waitKey(1) & 0xFF == ord('q'):
break
capture.release()
cv2.destroyAllWindows()
def center_of_box(self, tl, br):
self.tl = tl
self.br = br
center_coord = namedtuple("center_coord", ['x', 'y']) # List of calculated center coord for each FPS
center_x = ((tl[0] + br[0]) / 2)
center_y = ((tl[1] + br[1]) / 2)
center_box = center_coord(center_x, center_y) # Save center coord of detected box in list
print(center_box)
self.box_tracking(center_x) # Call function for tracking the box coord
def box_tracking(self, center_x):
self.center_x = center_x
while True:
if 0 <= center_x <= 426:
center = -1
elif 426 < center_x <= 852:
center = 0
elif 852 < center_x <= 1280:
center = 1
else:
center = 2
break
luggage_arduino.Arduino(center) # Calls function for serial comm
串行通讯的代码:
import serial
import time
arduino = serial.Serial("com3", 9600)
def serial_comm(): # Pass the function
pass
"""Main class for serial comm"""
class Arduino:
def __init__(self, center):
self.serial_comm(center) # Calls function of serial comm
def serial_comm(self, center):
if center == -1:
time.sleep(1)
arduino.write(b'L') # b can be replaced with str.encode("Your string here")
serial_comm()
elif center == 0:
time.sleep(1)
arduino.write(b'C')
serial_comm()
elif center == 1:
time.sleep(1)
arduino.write(b'R')
serial_comm()
else:
center = 2
time.sleep(1)
arduino.write(b'N')
serial_comm()
time.sleep(2)
最佳答案
调用time.sleep()可能是您的函数未在线程中运行的原因。
Thread中使用class Arduino吗？如果没有，它可能应该。
当您使用Serial.readline()时，这些调用将阻塞并等待数据。
请参阅this answer中的速度改进部分和here中发布的代码。