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@zwn
Last active Dec 12, 2019
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Handy realsense t265 examples in python
import pyrealsense2 as rs
def main():
pipeline = rs.pipeline()
pipeline.start()
profile = pipeline.get_active_profile()
streams = profile.get_streams()
for s in streams:
print(f'{s.__class__.__name__}: index:{s.stream_index()} @ {s.fps():>3d}fps type:{s.stream_type()} format:{s.format()}')
if __name__ == "__main__":
main()
import pyrealsense2 as rs
from pprint import pprint
from collections import namedtuple
from functools import partial
attrs = [
'acceleration',
'angular_acceleration',
'angular_velocity',
'mapper_confidence',
'rotation',
'tracker_confidence',
'translation',
'velocity',
]
Pose = namedtuple('Pose', attrs)
def main():
pipeline = rs.pipeline()
cfg = rs.config()
# if only pose stream is enabled, fps is higher (202 vs 30)
cfg.enable_stream(rs.stream.pose)
pipeline.start(cfg)
poses = []
try:
while True:
frames = pipeline.wait_for_frames()
pose_frame = frames.get_pose_frame()
if pose_frame:
pose = pose_frame.get_pose_data()
n = pose_frame.get_frame_number()
timestamp = pose_frame.get_timestamp()
p = Pose(*map(partial(getattr, pose), attrs))
poses.append((n, timestamp, p))
if len(poses) == 100:
return
finally:
pipeline.stop()
duration = (poses[-1][1]-poses[0][1])/1000
print(f'start: {poses[0][1]}')
print(f'end: {poses[-1][1]}')
print(f'duration: {duration}s')
print(f'fps: {len(poses)/duration}')
if __name__ == "__main__":
main()
import pyrealsense2 as rs
import numpy as np
import cv2
def main():
pipeline = rs.pipeline()
pipeline.start()
try:
while True:
frames = pipeline.wait_for_frames()
f1 = frames.get_fisheye_frame(1)
f2 = frames.get_fisheye_frame(2)
if not f1:
continue
assert f1 and f2
image1 = np.asanyarray(f1.get_data())
image2 = np.asanyarray(f2.get_data())
images = np.hstack((image1, image2))
cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
cv2.imshow('RealSense', images)
key = cv2.waitKey(1)
if key == 27: # ESC
return
if key == ord('s'):
cv2.imwrite("a.jpg", images)
finally:
pipeline.stop()
if __name__ == "__main__":
main()
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