Infrared Images Windows 10 librealsense 2.33.1

• Bobdavies2000

  • March 12, 2020 19:24

  It may help seeing more of the code:

   

  rs2::config cfg;
  cfg.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_BGR8, 30);
  cfg.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_BGR8, 30);
  cfg.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_Y8, 30);
  cfg.enable_stream(RS2_STREAM_INFRARED, 2, width, height, RS2_FORMAT_Y8, 30);

  if (IMUPresent)
  {
  cfg.enable_stream(RS2_STREAM_GYRO);
  cfg.enable_stream(RS2_STREAM_ACCEL);
  }

  profiles = pipeline.start();
  
  auto stream = profiles.get_stream(RS2_STREAM_COLOR);
  intrinsicsLeft = stream.as<rs2::video_stream_profile>().get_intrinsics();
  auto fromStream = profiles.get_stream(RS2_STREAM_COLOR);
  extrinsics = fromStream.get_extrinsics_to(profiles.get_stream(RS2_STREAM_INFRARED));

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• MartyG

  • March 12, 2020 19:34

  In this line:

  cfg.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_BGR8, 30);

  The RS2_FORMAT is usually Z16, as that is the only depth format available.

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• Bobdavies2000

  • March 12, 2020 19:45

  Thanks, Marty.

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• Bobdavies2000

  • March 13, 2020 02:00

  After putting the problem aside, I saw the problem was my failure to provide the cfg (that I had so carefully constructed) on the pipeline.start.  With no cfg parameter, start takes the default configuration which does not include the infrared images.  

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• MartyG

  • March 13, 2020 06:50

  I see, yes you are right about the start instruction.  A walk away from a problem for a bit to return with a fresh perspective can work wonders

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