"""
Example 4: Multi-Sensor with Multiprocessing

Each sensor runs in its own process with independent CUDA context.
"""

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'},
    ]
    
    with orisys.MultiSensor(configs) as multi:
        print("\nPress '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 data['depth'] is not None:
                    cv2.imshow(f"Sensor {sid} - Depth", 
                               cv2.applyColorMap((data['depth'] * 255).astype('uint8'), cv2.COLORMAP_HOT))
            
            if cv2.waitKey(1) & 0xFF == ord('q'):
                break
    
    cv2.destroyAllWindows()


if __name__ == '__main__':
    mp.freeze_support()
    main()