checked 5 sensors run in parralle, cpu max out

2025-12-27 15:15:42 +08:00
parent a8b02105fc
commit 0b1b7138c0
3 changed files with 233 additions and 41 deletions
@@ -0,0 +1,71 @@
+"""
+Example 6: Multi-Sensor with Async Pipeline
+
+Combines multiprocessing (separate CUDA contexts) with async 3-stage pipeline
+(Capture → Flow → HHD) for maximum throughput.
+
+Architecture:
+    Process 1 (Sensor 0):  [Capture] → [Flow] → [HHD] → Queue
+    Process 2 (Sensor 1):  [Capture] → [Flow] → [HHD] → Queue
+                                                          ↓
+    Main Process:         Display ← ─────────────────────┘
+"""
+
+import os
+os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
+
+import cv2
+import orisys
+import multiprocessing as mp
+
+
+def main():
+    configs = [
+        {'vid_src': './s1.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
+        {'vid_src': './s1_copy.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
+    ]
+    
+    # Method 1: Using async_context (recommended)
+    with orisys.MultiSensor.async_context(configs) as multi:
+        print("\nAsync multi-sensor started. Press 'q' to quit")
+        
+        for all_data in multi:
+            for data in [d for d in all_data if d]:
+                sid = data['sensor_id']
+                print(f"Sensor {sid}: FPS={data['fps']:5.1f}, Fn={data['fnormal']:8.2f}")
+                
+                if data['img'] is not None and data['flow'] is not None:
+                    arrows = orisys.util.draw_arrows(data['img'].copy(), data['flow'], threshold=5)
+                    cv2.imshow(f"Sensor {sid}", arrows)
+            
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                break
+    
+    cv2.destroyAllWindows()
+
+
+def main_manual():
+    """Alternative: Manual start with async flag"""
+    configs = [
+        {'vid_src': './s1.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
+        {'vid_src': './s1_copy.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
+    ]
+    
+    multi = orisys.MultiSensor(configs)
+    multi.start(use_async=True)  # Enable async mode
+    
+    try:
+        while True:
+            for data in [d for d in multi.get_all() if d]:
+                cv2.imshow(f"Sensor {data['sensor_id']}", data['img'])
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                break
+    finally:
+        multi.stop()
+        cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+    mp.freeze_support()
+    main()
+