add async to speed up 2x

example4_multiple_sensor.py

@@ -1,8 +1,7 @@
 """
 Example 4: Multi-Sensor with Multiprocessing
 
-Demonstrates the simplified MultiSensor API for running multiple sensors
-in parallel with full CUDA support.
+Each sensor runs in its own process with independent CUDA context.
 """
 
 import os
@@ -14,50 +13,26 @@ 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'
-        },
+        {'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
+            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}")
                 
-                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)
+                    arrows = orisys.util.draw_arrows(data['img'].copy(), data['flow'], threshold=5)
+                    cv2.imshow(f"Sensor {sid}", 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)
+                    cv2.imshow(f"Sensor {sid} - Depth", 
+                               cv2.applyColorMap((data['depth'] * 255).astype('uint8'), cv2.COLORMAP_HOT))
             
             if cv2.waitKey(1) & 0xFF == ord('q'):
                 break
@@ -65,36 +40,6 @@ def main():
     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
+    mp.freeze_support()
     main()