How to show d435 IR image using python wrapper pyrealsense2?

NCacc · ‎12-12-2018

Hi,

I'm currently working with a d435 and I want to display IR images (both left and right but for the moments just focus on one), following my code:

import pyrealsense2 as rs
import numpy as np
import cv2
 
# We want the points object to be persistent so we can display the 
#last cloud when a frame drops
points = rs.points()
 
# Create a pipeline
pipeline = rs.pipeline()
#Create a config and configure the pipeline to stream
config = rs.config()
config.enable_stream(rs.stream.infrared, 1, 1280, 720, rs.format.y8, 30)
# Start streaming
profile = pipeline.start(config)
 
# Streaming loop
try:
    while True:
        # Get frameset of color and depth
        frames = pipeline.wait_for_frames()
        ir1_frame = frames.get_infrared_frame(1) # Left IR Camera, it allows 1, 2 or no input
        image = np.asanyarray(ir1_frame)
        cv2.namedWindow('IR Example', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('IR Example', image)
        key = cv2.waitKey(1)
        # Press esc or 'q' to close the image window
        if key & 0xFF == ord('q') or key == 27:
            cv2.destroyAllWindows()
            break
finally:
    pipeline.stop()

everything works fine till the line:

cv2.imshow('IR Example', image)

I get the error:

TypeError: mat data type = 17 is not supported

so, my question is: how can I display IR images (using cv2 or matplotlib or whatever)?

Hope I was clear since this is my first question.

Cheers

MartyG · ‎12-12-2018

The link below has a short, simple script for getting the infrared frame with Pyrealsense2.

https://github.com/IntelRealSense/librealsense/issues/958

NCacc · ‎12-12-2018

thank you for the quick reply, but I'm already able to get the infrared frame, what i want to do is to display it on the screen.

Basically what a really want is the IR stream as a matrix and not as a pyrealsense.video_frame object in order to do further manipulations.

NCacc · ‎12-12-2018

Actually i just solved my problem, i just substituted this line:

image = np.asanyarray(ir1_frame)

with this one:

image = np.asanyarray(ir1_frame.get_data())

MartyG · ‎12-12-2018

I'm very glad you found a solution! :)