main.py

import numpy as np
import pyrealsense2 as rs
from matplotlib import pyplot as plt
import cv2
from realsense_depth import DepthCamera
from utils import createPointCloudO3D
from utils import depth2PointCloud
from utils import write_point_cloud

resolution_width, resolution_height = (640, 480)
clip_distance_max = 3.500 ##remove from the depth image all values above a given value (meters).

def main():

    Realsensed435Cam = DepthCamera(resolution_width, resolution_height)

    depth_scale = Realsensed435Cam.get_depth_scale()

    while True:

        ret , depth_raw_frame, color_raw_frame = Realsensed435Cam.get_raw_frame()
        if not ret:
            print("Unable to get a frame")
        
        points_xyz_rgb = depth2PointCloud(depth_raw_frame, color_raw_frame, depth_scale, clip_distance_max)
        create_point_cloud_file2(points_xyz_rgb,"room2.ply")
                
        color_frame = np.asanyarray(color_raw_frame.get_data())
        depth_frame = np.asanyarray(depth_raw_frame.get_data())
   
        cv2.imshow("Frame",  color_frame )
        key = cv2.waitKey(1) & 0xFF
        if key == ord('q'):
            cv2.imwrite("frame_color.png", color_frame)
            plt.imsave("vazo.png", depth_frame)
            break
    
    Realsensed435Cam.release() # release rs pipeline


if __name__ == '__main__':
    main()