bluepulsar
74 lines
2.7 KiB
Python
74 lines
2.7 KiB
Python
"""
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Example 7: Five Sensors with Async Pipeline
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Demonstrates scaling to 5 sensors running in parallel with async mode.
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Each sensor runs in its own process with 3-stage async pipeline.
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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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import numpy as np
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def main():
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# Configure 5 sensors (using same video for demo - replace with actual sources)
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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.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
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{'vid_src': './s1.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
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{'vid_src': './s1.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
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{'vid_src': './s1.mp4', 'isstitch': True, 'cuda': True, 'cal_path': './config/cal.npy'},
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]
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with orisys.MultiSensor.async_context(configs) as multi:
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print(f"\n{len(configs)} sensors started. Press 'q' to quit")
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for all_data in multi:
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valid_data = [d for d in all_data if d and d['img'] is not None]
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# Print stats for all sensors
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for data in valid_data:
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print(f"S{data['sensor_id']}: FPS={data['fps']:4.1f} Fn={data['fnormal']:7.1f}", end=" | ")
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if valid_data:
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print()
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# Create grid display (2 rows: 3 + 2)
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imgs = []
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for data in valid_data:
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if data['flow'] is not None:
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img = orisys.util.draw_arrows(data['img'].copy(), data['flow'], threshold=5)
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else:
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img = data['img']
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# Add sensor ID label
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cv2.putText(img, f"S{data['sensor_id']}", (10, 30),
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cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2)
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imgs.append(img)
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if len(imgs) >= 5:
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# Create 2x3 grid (pad with black if needed)
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h, w = imgs[0].shape[:2]
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black = np.zeros((h, w, 3), dtype=np.uint8) if len(imgs[0].shape) == 3 else np.zeros((h, w), dtype=np.uint8)
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row1 = np.hstack([imgs[0], imgs[1], imgs[2]])
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row2 = np.hstack([imgs[3], imgs[4], black])
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grid = np.vstack([row1, row2])
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# Resize for display
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grid = cv2.resize(grid, (1200, 800))
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cv2.imshow("5 Sensors Grid", grid)
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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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if __name__ == '__main__':
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mp.freeze_support()
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main()
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