Infrared images from Intel Real Sense depth cameras

Here is a simple working example that would allow to get infrared image from L515 camera. It seems

# l515 camera test 
import pyrealsense2 as rs
import numpy as np
import time
from PIL import Image as im
import subprocess
def initialize_camera():
    ctx = rs.context()
    devices = ctx.query_devices()
    for device in devices:
        print(' ----- Available devices ----- ')
        print('  Device PID: ',  device.get_info(rs.camera_info.product_id))
        print('  Device name: ',  device.get_info(rs.camera_info.name))
        print('  Serial number: ',  device.get_info(rs.camera_info.serial_number))
        print('  Firmware version: ',  device.get_info(rs.camera_info.firmware_version))
        print('  USB: ',  device.get_info(rs.camera_info.usb_type_descriptor))
        serial=device.get_info(rs.camera_info.serial_number)
        if serial == 'SERIALNUMBER':
            dev = device
        else:
            print('device not found')

    serial=dev.get_info(rs.camera_info.serial_number)
    # start the frames pipe
    p = rs.pipeline()
    conf = rs.config()
    conf.enable_device(serial)   #test of enable device
    prof = p.start(conf)
    print ('camera init complete')
    time.sleep(2)
    return p, prof
p,q = initialize_camera()
stream_list =q.get_streams()
for i in stream_list:
    print(f'stream {i}')
try:
    for i in range(10):
        f = p.wait_for_frames()
        accel = (f[3].as_motion_frame().get_motion_data())
        gyro =  (f[4].as_motion_frame().get_motion_data())
        color = f.get_color_frame()
        infrared = f.get_infrared_frame()
        depth = f.get_depth_frame()
        dist = (depth.get_distance(240, 320))
        color_img = np.asanyarray(color.get_data())
        ir_img = np.asanyarray(infrared.get_data())
        depth_img = np.asanyarray(depth.get_data())
        print('--- --- --- --- --- ---')
        print("accelerometer: ", accel)
        print("gyro: ", gyro)
        print('gyro frame #: ',f[3].get_frame_number())
        print('distance: ', dist)
        print('dist frame #: ',f[0].get_frame_number())
        print('mean color: ', color_img.mean())
        print('mean depth: ', depth_img.mean())
        print('mean infrared: ', ir_img.mean())
        #print('color: ', (col[400,400]))
        #print(data)
        #print('col array shape',col.shape)
        #print('infrared: ', (IRcol[240,320]))
        #time.sleep(0)
        #subprocess.check_call('cls',shell=True)
finally:
    pass #p.stop()

It is not clear how to get infrared image from D435i yet. if it is even possible

vstadnytskyi / intel-realsense-devices

Infrared images from Intel Real Sense depth cameras #7