realsense python

import pyrealsense2 as rs
import numpy as np
import cv2

width  = 640 #1280
height = 480 #720

pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, width, height, rs.format.z16, 30)
config.enable_stream(rs.stream.color, width, height, rs.format.bgr8, 30)

# Start streaming
pipeline.start(config)

cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)

try:
    align = rs.align(rs.stream.color)
    while True:
        frames = pipeline.wait_for_frames()
        aligned_frames = align.process(frames)
        depth_frame = aligned_frames.get_depth_frame()
        color_frame = aligned_frames.get_color_frame()
        
        if not depth_frame or not color_frame:
            continue

        # Convert images to numpy arrays
        depth_image = np.asanyarray(depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())

        # Apply colormap on 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))

        # Show images
        cv2.imshow('RealSense', images)

        key = cv2.waitKey(1)
        if key & 0xFF == ord('q') or key == 27:
            cv2.destroyAllWindows()
            break
finally:
    # Stop streaming
    pipeline.stop()