RGB speed test for the Intel RealSense d435i

realsense-d435i-test-speed.py

import time
import numpy as np
import pyrealsense2 as rs

pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 60)
pipeline.start(config)

tests = 100

start = time.time()
for i in range(tests):
    frames = pipeline.wait_for_frames()
    color = frames.get_color_frame() # Avg 0.0349s per frame, i.e. 28.6321Hz
    if not color: continue


diff = (time.time() - start) / tests

print("Avg {}s per frame, i.e. {}Hz".format(np.around(diff, 4), np.around(1 / diff, 4)))
pipeline.stop()