bluepulsar
50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
"""
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Example 5: Async/Pipelined Processing
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Overlaps image capture with deformation computation for higher throughput.
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Pipeline: [Capture Thread] -> [Queue] -> [Compute Thread] -> [Queue] -> [Main]
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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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def main():
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sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, verbose=True)
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sensor.enable_async(queue_size=2)
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print("\nPress 'q' to quit, 'r' to reset")
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try:
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while True:
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data = sensor.get_async(timeout=0.05)
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if data is None:
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continue
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print(f"FPS: {data['fps']:5.1f}, Fn: {data['fnormal']:8.2f}, "
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f"Fx: {data['fshearx']:8.2f}, Fy: {data['fsheary']: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("Deformation", arrows)
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if data['depth'] is not None:
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depth_img = cv2.applyColorMap((data['depth'] * 255).astype('uint8'), cv2.COLORMAP_HOT)
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cv2.imshow("Depth", depth_img)
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key = cv2.waitKey(1) & 0xFF
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if key == ord('q'):
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break
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elif key == ord('r'):
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sensor.reset()
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finally:
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sensor.disconnect()
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cv2.destroyAllWindows()
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if __name__ == '__main__':
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main()
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