added 5 sensors multi-stream support, 5 finger reach > 100 fps stable using .mp4 video

src/orisys/sensor.py

@@ -689,11 +689,19 @@ class Sensor:
         self.compute_hhd()
         return True
 
-    def compute_flow(self):
-        if self.img is None:
+    def compute_flow(self, img=None):
+        """Compute the optical flow for one frame.
+
+        ``img`` optionally supplies the frame to use instead of ``self.img``.
+        StreamPipeline passes it explicitly so a producer thread cannot swap
+        ``self.img`` between the hand-off and the tracker call. Positional
+        callers and existing code are unaffected.
+        """
+        image = self.img if img is None else img
+        if image is None:
             raise Exception("Warning: Get image first")
         
-        flow = self.__tracker.track(self.img, valid_mask=self.valid_mask)
+        flow = self.__tracker.track(image, valid_mask=self.valid_mask)
         # flow = self.__tracker.track_raft(self.img)
         if hasattr(flow, 'download'):
             flow = flow.download()
@@ -764,9 +772,16 @@ class Sensor:
         """``config``, ``measured`` or ``config (replay)``."""
         return str(getattr(self, "_force_rate_source", "config"))
 
-    def compute_hhd(self):
+    def compute_hhd(self, flow=None):
+        """Decompose the optical flow and update the force readout.
 
-        flow = self.flow
+        ``flow`` optionally supplies the field to decompose instead of
+        ``self.flow``. StreamPipeline passes its own per-frame copy so the flow
+        stage cannot overwrite ``self.flow`` mid-decomposition. Existing
+        callers are unaffected.
+        """
+
+        flow = self.flow if flow is None else flow
         if flow is None:
             raise Exception("Warning: Compute flow first")