bluepulsar
101 lines
2.8 KiB
Python
101 lines
2.8 KiB
Python
"""
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Example 4: Multi-Sensor with Multiprocessing
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Demonstrates the simplified MultiSensor API for running multiple sensors
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in parallel with full CUDA support.
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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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# Configure sensors
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configs = [
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{
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'vid_src': './s1.mp4',
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'isstitch': True,
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'cuda': True,
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'cal_path': './config/cal.npy'
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},
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{
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'vid_src': './s1_copy.mp4',
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'isstitch': True,
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'cuda': True,
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'cal_path': './config/cal.npy'
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},
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]
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with orisys.MultiSensor(configs) as multi:
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print("\nPress 'q' to quit")
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for all_data in multi:
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for data in all_data:
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if data is None:
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continue
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sensor_id = data['sensor_id']
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print(f"Sensor {sensor_id}: FPS={data['fps']:5.1f}, "
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f"Fn={data['fnormal']:8.2f}")
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# Draw arrows
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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(
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data['img'].copy(),
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data['flow'],
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threshold=5
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)
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cv2.imshow(f"Sensor {sensor_id}", arrows)
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# Show depth
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if data['depth'] is not None:
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depth_img = cv2.applyColorMap(
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(data['depth'] * 255).astype('uint8'),
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cv2.COLORMAP_HOT
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)
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cv2.imshow(f"Sensor {sensor_id} - Depth", depth_img)
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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/stop control"""
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configs = [
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{'vid_src': './s1.mp4', 'isstitch': True, 'cal_path': './config/cal.npy'},
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{'vid_src': './s1_copy.mp4', 'isstitch': True, 'cal_path': './config/cal.npy'},
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]
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multi = orisys.MultiSensor(configs)
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multi.start()
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try:
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while True:
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# Get data from specific sensor
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data0 = multi.get(0) # or multi[0]
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data1 = multi.get(1) # or multi[1]
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# Or get all at once
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# all_data = multi.get_all()
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for data in [data0, data1]:
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if data and data['img'] is not None:
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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() # Required for Windows
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main()
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