RealsenseでRGBとデプスの映像を表示する

realsenseSimpleViewer.py

import pyrealsense2 as rs
import numpy as np
import cv2

# Configulation of Realsense
config = rs.config()

#The case of reading from bag gile
config.enable_device_from_file('xxxx.bag')

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 
pipeline = rs.pipeline()
pipeline.start(config)

try:
    while True:
        frames = pipeline.wait_for_frames()
        color_frame = frames.get_color_frame()
        depth_frame = frames.get_depth_frame()
        if not color_frame or not depth_frame:
            continue
        # translation to OpenCV Format
        color_image = np.asanyarray(color_frame.get_data())
        depth_image = np.asanyarray(depth_frame.get_data())
        # depth image to Colormap
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.08), cv2.COLORMAP_JET)      

        # Show Color images
        cv2.namedWindow('color_image', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('color_image', color_image)
        # Show Depth images
        cv2.namedWindow('depth_image', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('depth_image', depth_colormap)
        
        #enter q key to exit
        key = cv2.waitKey(1) & 0xff
        if key == ord("q"):
          break
        
        #If it does not work, try below code
        #cv2.waitKey(1) 

finally:    
    pipeline.stop()