main.py

import pyrealsense2 as rs
import numpy as np
import cv2
from pathlib import Path

output_dir_color = Path("output/Color")
output_dir_color.mkdir(exist_ok=True)
output_dir_depth = Path("output/Depth")
output_dir_depth.mkdir(exist_ok=True)

# ストリーム(Depth/Color)の設定
config = rs.config()
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)

# ストリーミング開始
pipeline = rs.pipeline()
profile = pipeline.start(config)

# Alignオブジェクト生成
align_to = rs.stream.color
align = rs.align(align_to)

try:
    count = -1
    while True:
        count = count + 1
        # フレーム待ち(Color & Depth)
        frames = pipeline.wait_for_frames()

        aligned_frames = align.process(frames)
        color_frame = aligned_frames.get_color_frame()
        depth_frame = aligned_frames.get_depth_frame()
        if not depth_frame or not color_frame:
            continue

        #imageをnumpy arrayに
        color_image = np.asanyarray(color_frame.get_data())
        depth_image = np.asanyarray(depth_frame.get_data())


        #depth imageをカラーマップに変換
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.02), cv2.COLORMAP_JET)

        #画像表示
        color_image_s = cv2.resize(color_image, (640, 480))
        depth_colormap_s = cv2.resize(depth_colormap, (640, 480))
        images = np.hstack((color_image_s, depth_colormap_s))
        cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense', images)

        #画像保存
        save_path = output_dir_color / f"{count}.png"
        cv2.imwrite(str(save_path), color_image_s)
        save_path = output_dir_depth / f"{count}.png"
        cv2.imwrite(str(save_path), depth_colormap_s)
        
        if cv2.waitKey(1) & 0xff == 27:#ESCで終了
            cv2.destroyAllWindows()
            break

finally:

    #ストリーミング停止
    pipeline.stop()