testrealsense.py

## License: Apache 2.0. See LICENSE file in root directory.
## Copyright(c) 2015-2017 Intel Corporation. All Rights Reserved.

#####################################################
## librealsense tutorial #1 - Accessing depth data ##
#####################################################

# First import the library
import pyrealsense2 as rs
import numpy as np
import cv2

try:
    # Create a context object. This object owns the handles to all connected realsense devices
    pipeline = rs.pipeline()

    # Configure streams
    config = rs.config()
    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

    # Start streaming
    pipeline.start(config)

    while True:
        # This call waits until a new coherent set of frames is available on a device
        # Calls to get_frame_data(...) and get_frame_timestamp(...) on a device will return stable values until wait_for_frames(...) is called
        frames = pipeline.wait_for_frames()
        depth = frames.get_depth_frame()
        color = frames.get_color_frame()
        if not depth or not color: continue

        # Convert frames to numpy arrays
        depth_image = np.asanyarray(depth.get_data())
        color_image = np.asanyarray(color.get_data())
        
        # Apply colormap to depth image (image must be converted to 8-bit per pixel first)
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        # Stack both images horizontally
        images = np.hstack((color_image, depth_colormap))

        # Display both streams in one window
        cv2.imshow('Color and Depth Streams', images)
        
        # Break loop with 'q' key
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

    # Clean up
    pipeline.stop()
    cv2.destroyAllWindows()
    exit(0)
except Exception as e:
    print(e)
    pass