rs_003.py

"""
Stream alignment
"""
import pyrealsense2 as rs
from matplotlib import pyplot as plt
import cv2 as cv
import numpy as np

pipe = rs.pipeline()
cfg = rs.config()
profile = pipe.start(cfg)

# Skip 5 first frames to give the Auto-Exposure time to adjust
for x in range(5):
    pipe.wait_for_frames()

# Store next frameset for later processing:
frameset = pipe.wait_for_frames()
color_frame = frameset.get_color_frame()
depth_frame = frameset.get_depth_frame()

# Cleanup:
pipe.stop()
print("Frames Captured")

color = np.asanyarray(color_frame.get_data())
plt.rcParams["axes.grid"] = False
plt.imshow(color)

colorizer = rs.colorizer()
colorized_depth = np.asanyarray(colorizer.colorize(depth_frame).get_data())
plt.imshow(colorized_depth)

# Create alignment primitive with color as its target stream:
align = rs.align(rs.stream.color)
frameset = align.process(frameset)

# Update color and depth frames:
depth_frame = frameset.get_depth_frame()
colorized_depth = np.asanyarray(colorizer.colorize(depth_frame).get_data())

# Show the two frames together:
images = np.hstack((color, colorized_depth))
plt.imshow(images)
plt.show()