A new diagnostic technique for measurements of temperature and pressure distribution in gaseous flows has been developed. The technique, based on infrared planar laser-induced fluorescence (IR-PLIF), is applicable to all IR-active species. A simple two-line excitation approach is used for measurements of temperature, while pressure measurements utilize online excitation on one rotational line and offline excitation on another. A demonstration of the technique in a supersonic underexpanded jet of 30% ${\mathrm{CO}}_2$ and 70% ${\mathrm{N}}_2$ was performed, and the results are, to the best of our knowledge, the first demonstration of temperature and pressure imaging using IR-PLIF. The developed diagnostic shows potential for single-shot two-dimensional measurements of temperature and pressure in gaseous flows.