realsence_ir_depth_video.py

import pyrealsense2 as rs
import numpy as np
import cv2

pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 15)
config.enable_stream(rs.stream.infrared, 1, 1280, 720, rs.format.y8, 15)
config.enable_stream(rs.stream.infrared, 2, 1280, 720, rs.format.y8, 15)
#config.enable_stream(rs.stream.infrared1, 640, 480, rs.format.y8, 30)
#config.enable_stream(rs.stream.depth, 640, 480, rs.format.y8, 30)

color_path = 'V00P00A00C00_infrared1.avi'
depth_path = 'V00P00A00C00_depth.avi'
colorwriter = cv2.VideoWriter(color_path, cv2.VideoWriter_fourcc(*'XVID'), 15, (1280, 720), 1)
depthwriter = cv2.VideoWriter(depth_path, cv2.VideoWriter_fourcc(*'XVID'), 15, (1280, 720), 1)

pipeline.start(config)

try:
    integer = 0
    targert_integer = 40
    while integer < targert_integer:
        integer += 1
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        ir1_frame = frames.get_infrared_frame(1)
        #color_frame = frames.get_color_frame()
        if not depth_frame or not ir1_frame:
            continue

        infrared_img = np.asanyarray(ir1_frame.get_data())
        depth_image = np.asanyarray(depth_frame.get_data())
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        ir1_image = cv2.cvtColor(infrared_img, cv2.COLOR_GRAY2BGR)
        colorwriter.write(ir1_image)
        depthwriter.write(depth_colormap)

        if cv2.waitKey(1) == ord("q"):
            break
finally:
    colorwriter.release()
    depthwriter.release()
    pipeline.stop()