Handy realsense t265 examples in python

list-streams.py

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()

pose-fps.py

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()

show-t265.py

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()