imu data and image data not streaming simultaneously on pyrealsense

[Praneet1997]

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Required Info
Camera Model	{ R200 / F200 / SR300 / ZR300 / D400 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (8.1/10) / Linux (Ubuntu 14/16/17) / MacOS
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC/Raspberry Pi/ NVIDIA Jetson / etc..
SDK Version	{ legacy / 2.<?>.<?> }
Language	{C/C#/labview/nodejs/opencv/pcl/python/unity }
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

<Describe your issue / question / feature request / etc..>

[Praneet1997]

Camera:d435i SDK latest and pyrealsense2

My python script is working if I stream only IMU data or only Image data but not together

import pyrealsense2 as rs import numpy as np import cv2 import time import ros

def initialize_camera(): p = rs.pipeline() conf = rs.config() CAM_WIDTH, CAM_HEIGHT, CAM_FPS = 848,480,15 conf.enable_stream(rs.stream.depth, CAM_WIDTH, CAM_HEIGHT, rs.format.z16, CAM_FPS) conf.enable_stream(rs.stream.color, CAM_WIDTH, CAM_HEIGHT, rs.format.rgb8, CAM_FPS) conf.enable_stream(rs.stream.infrared,1, CAM_WIDTH, CAM_HEIGHT, rs.format.y8, CAM_FPS) conf.enable_stream(rs.stream.infrared,2, CAM_WIDTH, CAM_HEIGHT, rs.format.y8, CAM_FPS) conf.enable_stream(rs.stream.accel) conf.enable_stream(rs.stream.gyro) prof = p.start(conf) device = prof.get_device() depth_sensor = device.query_sensors()[0] depth_sensor.set_option(rs.option.laser_power, 0) return p

def gyro_data(gyro): return np.asarray([gyro.x, gyro.y, gyro.z])

def accel_data(accel): return np.asarray([accel.x, accel.y, accel.z])

t0 = time.time() p = initialize_camera() print "ok done" print time.time() - t0, "seconds elapsed"

Start streaming

try: while True: frames = p.wait_for_frames() accel=accel_data(frames[0].as_motion_frame().get_motion_data())
depth_frame = frames.get_depth_frame() color_frame = frames.get_color_frame() infra_frame1 = frames.get_infrared_frame(1) infra_frame2 = frames.get_infrared_frame(2) time.sleep(0.1) gyro= gyro_data(frames[1].as_motion_frame().get_motion_data()) depth_image=np.asanyarray(depth_frame.get_data()) color_image=np.asanyarray(color_frame.get_data()) infra_image1=np.asanyarray(infra_frame1.get_data()) infra_image2=np.asanyarray(infra_frame2.get_data()) depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET) images = np.hstack( (infra_image1,infra_image2)) images2=np.hstack((depth_colormap,color_image)) print("accelerometer: ", accel) print("gyro: ", gyro) cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE) cv2.imshow('RealSense', images) cv2.namedWindow('RealSense2', cv2.WINDOW_AUTOSIZE) cv2.imshow('RealSense2', images2) cv2.imshow('realsense3',depth_image) cv2.waitKey(1) finally: p.stop()

It ends with error "RuntimeError: null pointer passed for argument "frame_ref"

[ev-mp]

@Praneet1997 hello, The frameset content is dynamically allocated, and one must not make assumptions regarding a specific frame within the container as appears in the snippet:

accel=accel_data(frames[0].as_motion_frame().get_motion_data()) gyro= gyro_data(frames[1].as_motion_frame().get_motion_data())

The envisioned approach is a dynamic discovery while iterating over the frames in the frameset object.

    frames = pipe.wait_for_frames()
    for frame in frames:
        if frame.is_depth():
            ...
        if frame.is_motion():
            #check if Accel or Gyro
            ...
        if frame.is_pose():
            ...

In addition there are also auxiliary functions available for certain frame types, e.g. frameset.get_depth_frame() See T265 example as a reference

[Praneet1997]

there is no attribute of frame object as is_motion or is depth

AttributeError: 'pyrealsense2.pyrealsense2.frame' object has no attribute 'is_depth'

[lramati]

As you can see in the documentation for the frame class using the builtin help() command, or online here the correct names for these functions is is_depth_frame, is_motion_frame, etc

[JacobTheEngineer86]

I also seem to be running into this problem. I've tried to implement what @ev-mp said about iterating over the frames and dynamically retrieving the data, but I still get the "RuntimeError: null pointer passed for argument "frame_ref"" error. I'm using the following code:

import pyrealsense2 as rs import numpy as np import cv2

pipeline = rs.pipeline() config = rs.config() config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30) config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30) config.enable_stream(rs.stream.accel, rs.format.motion_xyz32f, 250) config.enable_stream(rs.stream.gyro, rs.format.motion_xyz32f, 200)

def gyro_data(gyro): return np.asarray([gyro.x, gyro.y, gyro.z])

def accel_data(accel): return np.asarray([accel.x, accel.y, accel.z])

pipeline.start(config) try: while True: frames = pipeline.wait_for_frames()

    for frame in frames:
        if frame.is_motion_frame():
            accel = accel_data(frames[0].as_motion_frame().get_motion_data())
            gyro = gyro_data(frames[1].as_motion_frame().get_motion_data())
        if frame.is_depth_frame():
            depth_frame = frames.get_depth_frame()
            color_frame = frames.get_color_frame()`

finally: pipeline.stop()

Can anybody see what the problem is? If the problem is in the lines: accel = accel_data(frames[0].as_motion_frame().get_motion_data()) gyro = gyro_data(frames[1].as_motion_frame().get_motion_data()) what would I do different to retrieve the IMU data?

I'm using the D435i camera on a Jetson TX1 running ubuntu 16.04.

Thank you!

[lramati]

by using frames[0].as_motion_frame() and frames[1].as_motion_frame() you are making potentially incorrect assumptions about where in the frames object the motion frame is. Try adapting the following instead:

for frame in frames:
    if frame.is_motion_frame():
        accel = accel_data(frame.as_motion_frame().get_motion_data())

[JacobTheEngineer86]

Thank you @lramati, that solved the problem. Much appreciated.

[RealSenseCustomerSupport]

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HI @Praneet1997,

If no additional support for this topic, will close it.