add multi-sensor support

2025-12-27 13:42:47 +08:00
parent 3f231c2c42
commit 3f4f42ee4a
7 changed files with 418 additions and 42 deletions
@@ -0,0 +1,100 @@
+"""
+Example 4: Multi-Sensor with Multiprocessing
+
+Demonstrates the simplified MultiSensor API for running multiple sensors
+in parallel with full CUDA support.
+"""
+
+import os
+os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
+
+import cv2
+import orisys
+import multiprocessing as mp
+
+
+def main():
+    # Configure sensors
+    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'
+        },
+    ]
+    
+    with orisys.MultiSensor(configs) as multi:
+        print("\nPress 'q' to quit")
+        
+        for all_data in multi:
+            for data in all_data:
+                if data is None:
+                    continue
+                
+                sensor_id = data['sensor_id']
+                print(f"Sensor {sensor_id}: FPS={data['fps']:5.1f}, "
+                      f"Fn={data['fnormal']:8.2f}")
+                
+                # Draw arrows
+                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 {sensor_id}", arrows)
+                
+                # Show depth
+                if data['depth'] is not None:
+                    depth_img = cv2.applyColorMap(
+                        (data['depth'] * 255).astype('uint8'),
+                        cv2.COLORMAP_HOT
+                    )
+                    cv2.imshow(f"Sensor {sensor_id} - Depth", depth_img)
+            
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                break
+    
+    cv2.destroyAllWindows()
+
+
+def main_manual():
+    """Alternative: Manual start/stop control"""
+    configs = [
+        {'vid_src': './s1.mp4', 'isstitch': True, 'cal_path': './config/cal.npy'},
+        {'vid_src': './s1_copy.mp4', 'isstitch': True, 'cal_path': './config/cal.npy'},
+    ]
+    
+    multi = orisys.MultiSensor(configs)
+    multi.start()
+    
+    try:
+        while True:
+            # Get data from specific sensor
+            data0 = multi.get(0)  # or multi[0]
+            data1 = multi.get(1)  # or multi[1]
+            
+            # Or get all at once
+            # all_data = multi.get_all()
+            
+            for data in [data0, data1]:
+                if data and data['img'] is not None:
+                    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()  # Required for Windows
+    main()