How to improve OpenCV performance on ARM?

Hi guys I am making a face-tracking Nerf blaster using OpenCV on the Raspberry Pi. I am using a Microsoft LifeCam webcam for capture input and the SoftwareServo class for blaster control. However, my code runs at 1-2 FPS on the Pi (Pi 3 model B). I am currently using scale to improve performance, but the code still runs at 1 FPS. Additionally, the servos are extremely jittery. I am powering the servos using a 2A 5V regulator. The Pi is powered off a 2A USB supply. The grounds are connected. Does anyone know how to improve performance? Maybe a different CV library? Thanks for input! Code: ` import processing.io.*; import gab.opencv.*; import processing.video.*; import java.awt.*;

PImage img; Rectangle[] faceRect;

Capture cam; OpenCV opencv; SoftwareServo panServo; SoftwareServo trigServo;

int widthCapture=320; int heightCapture=240; int fpsCapture=30; int panpos=90; int firePos = 80; int readyPos = 0; long time; int wait = 500;

int targetCenterX; int targetCenterY;

int threshold = 20; int thresholdLeft; int thresholdRight; int moveIncrement = 2;

int circleExpand = 20; int circleWidth = 3;

boolean isFiring = false; boolean isFound = false; boolean manual = false;

void setup() { size (320, 240); frameRate(fpsCapture); background(0); panServo = new SoftwareServo(this); trigServo = new SoftwareServo(this); panServo.attach(17); trigServo.attach(4);

cam = new Capture(this, widthCapture, heightCapture); cam.start();

opencv = new OpenCV(this, widthCapture, heightCapture); opencv.loadCascade(OpenCV.CASCADE_FRONTALFACE); }

void draw() { if (millis() - time >= wait) { trigServo.write(readyPos); isFiring = false; } if (isFiring) { trigServo.write(firePos); tint(255, 0, 0); } else { trigServo.write(readyPos); noTint(); } if (cam.available() == true) { cam.read();
img = cam.get();

opencv.loadImage(img);

image(img, 0, 0);
blend(img, 0, 0, widthCapture, heightCapture, 0, 0, widthCapture, heightCapture, HARD_LIGHT);
faceRect = opencv.detect();

}

stroke(255, 255, 255); strokeWeight(1); thresholdLeft = (widthCapture/2)-threshold; thresholdRight = (widthCapture/2)+threshold;

stroke(255, 255, 255, 128); strokeWeight(1); line(thresholdLeft, 0, thresholdLeft, heightCapture); //left line line(thresholdRight, 0, thresholdRight, heightCapture); //right line

if ((faceRect != null) && (faceRect.length != 0)) { isFound = true; //Get center point of identified target targetCenterX = faceRect[0].x + (faceRect[0].width/2); targetCenterY = faceRect[0].y + (faceRect[0].height/2);

//Draw circle around face
noFill();
strokeWeight(circleWidth);
stroke(255, 255, 255);
ellipse(targetCenterX, targetCenterY, faceRect[0].width+circleExpand, faceRect[0].height+circleExpand);
if (!manual) {
  //Handle rotation
  if (targetCenterX < thresholdLeft)
  {
    panpos -=  moveIncrement;
    //delay(70);
  }
  if (targetCenterX > thresholdRight)
  {
    panpos+=  moveIncrement;
    //delay(70);
  }

  //Fire
  if ((targetCenterX >= thresholdLeft) && (targetCenterX <= thresholdRight))
  {
    isFiring = true;
    println("Gotem");
    noFill();
  }
}

} } void keyPressed() { if (key == 'm') { manual = !manual; println("manual mode toggled"); isFiring = false; } else if (key == 'a' && manual) { panpos-= moveIncrement; println("left"); } else if (key == 'f' && manual) { isFiring = !isFiring; } else if (key == 'd' && manual) { panpos+= moveIncrement; println("right"); } else if (key == 'c' ) { panServo.write(90); } else { println(key); } } `