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