Dmitry Maslov
Published © MIT

aXeleRate - Keras-Based Framework for AI on the Edge

Train your machine learning models in Google Colab and easily optimize them for hardware accelerated inference!

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aXeleRate - Keras-Based Framework for AI on the Edge

Things used in this project

Hardware components

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aXeleRate

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Code

Micropython person following example

MicroPython
import sensor,image,lcd, os, time, utime
from maix_motor import Maix_motor
import KPU as kpu

def find_center():
    img = sensor.snapshot()
    img = img.resize(224,224)
    img= img.rotation_corr(z_rotation=90.0)
    a = img.pix_to_ai()
    code = kpu.run_yolo2(task, img)
    if code:
        for i in code:
            a=img.draw_rectangle(i.rect(),color = (0, 255, 0))
            a = img.draw_string(i.x(),i.y(), classes[i.classid()], color=(255,0,0), scale=3)
            x_center = i.x()+i.w()/2
            print(x_center)
        a = lcd.display(img)
        return x_center
    else:
        a = lcd.display(img)
        return -1


def scan_pan():
    Maix_motor.motor_run(0, 0, 0)
    Maix_motor.servo_angle(2, 110)
    for i in range(0, 180, 5):
        pos = find_center()
        if pos >= 100 and pos <= 124:
            Maix_motor.servo_angle(1, 90)
            if i >= 90:
                Maix_motor.motor_right(40, 0)
                Maix_motor.motor_left(-40, 0)
                utime.sleep_ms(((i - 90) * 12))
            if i < 90:
                Maix_motor.motor_right(-40, 0)
                Maix_motor.motor_left(40, 0)
                utime.sleep_ms(((90 - i) * 12))
            Maix_motor.motor_motion(1, 1, 0)
            time.sleep(0.3)
            return True
        else:
            Maix_motor.servo_angle(1, i)


def scan_tilt():
    #Maix_motor.motor_run(0, 0, 0)
    Maix_motor.servo_angle(1, 90)
    for i in range(100, 140, 2):
        pos = find_center()
        if pos > 0:
            return True
        else:
            Maix_motor.servo_angle(2, i)

def scan_rotate():
    Maix_motor.servo_angle(1, 90)
    Maix_motor.servo_angle(2, 110)
    Maix_motor.motor_motion(1, 3, 0)
    while True:
        pos = find_center()
        if pos > 0:
            break

lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_vflip(1)
sensor.run(1)
Maix_motor.servo_angle(1, 90)
Maix_motor.servo_angle(2, 110)
DEBUG = 0
classes = ["person"]
task = kpu.load('/sd/model_people_end.kmodel')
a = kpu.set_outputs(task, 0, 7,7,30)
anchor = (0.57273, 0.677385, 1.87446, 2.06253, 3.33843, 5.47434, 7.88282, 3.52778, 9.77052, 9.16828)
a = kpu.init_yolo2(task, 0.3, 0.3, 5, anchor)
while(True):
    x_center = find_center()
    if not DEBUG:
        if x_center >= 100 and x_center <= 124: Maix_motor.motor_motion(1, 1, 0)
        if x_center < 100 and x_center > 0: Maix_motor.motor_motion(1, 4, 0)
        if x_center > 124: Maix_motor.motor_motion(1, 3, 0)
        if x_center < 0:
            if not scan_tilt():
                scan_pan()
                if not scan_pan():
                    scan_rotate()
a = kpu.deinit(task)

Credits

Dmitry Maslov

Dmitry Maslov

6 projects • 12 followers

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