RealSense SDK for Pythonを Ubuntu22LTS on Raspi4B で試す　その５：差分画像フィルタをつくる

実際のところ

import pyrealsense2 as rs
import numpy as np
import cv2

conf = rs.config()

width = 1280
height = 720

# 普通の描画
conf.enable_stream(rs.stream.infrared, 2, width, height, rs.format.y8, 30)

pipe = rs.pipeline()
profile = pipe.start(conf)

backSub = cv2.createBackgroundSubtractorKNN()

while True:
    frames = pipe.wait_for_frames()

    #IR
    IR_frame = frames.get_infrared_frame()
    IR_image = np.asanyarray(ir_frame2.get_data())

    fgMask = backSub.apply(IR_image)

    cv2.imshow('RS',fgMask)

    #ESC keyS
    if cv2.waitKey(1) & 0xff == 27:
       cv2.destroyAllWindows()
       break