bluepulsar
46 lines
1.4 KiB
Python
46 lines
1.4 KiB
Python
"""
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Example 4: Multi-Sensor with Multiprocessing
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Each sensor runs in its own process with independent CUDA context.
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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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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 [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 data['depth'] is not None:
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cv2.imshow(f"Sensor {sid} - Depth",
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cv2.applyColorMap((data['depth'] * 255).astype('uint8'), cv2.COLORMAP_HOT))
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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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