How to use pyrealsense2 - 10 common examples

def discover_cams():
    """Returns a list of the ids of all cameras connected via USB."""
    ctx = rs.context()
    ctx_devs = list(ctx.query_devices())
    ids = []
    for i in range(ctx.devices.size()):
        ids.append(ctx_devs[i].get_info(rs.camera_info.serial_number))
    return ids

# Parse the command line arguments to an object
    args = parser.parse_args()
    # Safety if no parameter have been given
    if not args.input:
        print("No input paramater have been given.")
        print("For help type --help")
        exit()
    # Check if the given file have bag extension
    if os.path.splitext(args.input)[1] != ".bag":
        print("The given file is not of correct file format.")
        print("Only .bag files are accepted")
        exit()

        align = rs.align(rs.stream.color)
        pipeline = rs.pipeline()
        config = rs.config()
        # Tell config that we will use a recorded device from filem to be used by the pipeline through playback.
        rs.config.enable_device_from_file(config, args.input)
        # Configure the pipeline to stream the depth stream
        config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
        config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)

        # Start streaming from file
        profile = pipeline.start(config)

        intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
        # print( 'camera_intrinsic', intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)

        # Create opencv window to render image in
        cv2.namedWindow("Depth Stream", cv2.WINDOW_AUTOSIZE)
        cv2.namedWindow("Color Stream", cv2.WINDOW_AUTOSIZE)
        pinhole_camera_intrinsic = PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)

if not args.input:
        print("No input paramater have been given.")
        print("For help type --help")
        exit()

    if os.path.splitext(args.input)[1] != ".bag":
        print("The given file is not of correct file format.")
        print("Only .bag files are accepted")
        exit()

    align = rs.align(rs.stream.color)
    pipeline = rs.pipeline()
    config = rs.config()

    rs.config.enable_device_from_file(config, args.input)

    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)


    profile = pipeline.start(config)

    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()

    cv2.namedWindow("Depth Stream", cv2.WINDOW_AUTOSIZE)
    cv2.namedWindow("Color Stream", cv2.WINDOW_AUTOSIZE)
    pinhole_camera_intrinsic = o3d.camera.PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)

    geometrie_added = False
    vis = o3d.visualization.VisualizerWithKeyCallback()

# Safety if no parameter have been given
if not args.input:
    print("No input paramater have been given.")
    print("For help type --help")
    exit()
# Check if the given file have bag extension
if os.path.splitext(args.input)[1] != ".bag":
    print("The given file is not of correct file format.")
    print("Only .bag files are accepted")
    exit()
try:
    # Create pipeline
    pipeline = rs.pipeline()

    # Create a config object
    config = rs.config()
    # Tell config that we will use a recorded device from filem to be used by the pipeline through playback.
    rs.config.enable_device_from_file(config, args.input)
    # Configure the pipeline to stream the depth stream
    config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)

    # Start streaming from file
    pipeline.start(config)

    # Create opencv window to render image in
    cv2.namedWindow("Depth Stream", cv2.WINDOW_AUTOSIZE)
    
    # Create colorizer object
    colorizer = rs.colorizer();

    # Streaming loop
    while True:

def test():
    # Configure depth and color streams...
    # ...from Camera 1
    pipeline_1 = rs.pipeline()
    config_1 = rs.config()
    config_1.enable_device('802212060621')
    config_1.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

    # Start streaming from both cameras
    pipeline_1.start(config_1)
    img_counter = 0
    try:
        while True:

            # Camera 1
            # Wait for a coherent pair of frames: depth and color
            frames_1 = pipeline_1.wait_for_frames()
            color_frame_1 = frames_1.get_color_frame()

            #depth_frame_1 or

parser.add_argument("-i", "--input", type=str, help="Path to the bag file")

    args = parser.parse_args()

    if not args.input:
        print("No input paramater have been given.")
        print("For help type --help")
        exit()

    if os.path.splitext(args.input)[1] != ".bag":
        print("The given file is not of correct file format.")
        print("Only .bag files are accepted")
        exit()

    align = rs.align(rs.stream.color)
    pipeline = rs.pipeline()
    config = rs.config()

    rs.config.enable_device_from_file(config, args.input)

    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)


    profile = pipeline.start(config)

    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()

    cv2.namedWindow("Depth Stream", cv2.WINDOW_AUTOSIZE)
    cv2.namedWindow("Color Stream", cv2.WINDOW_AUTOSIZE)
    pinhole_camera_intrinsic = o3d.camera.PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)

print("For help type --help")
        exit()

    if os.path.splitext(args.input)[1] != ".bag":
        print("The given file is not of correct file format.")
        print("Only .bag files are accepted")
        exit()

    align = rs.align(rs.stream.color)
    pipeline = rs.pipeline()
    config = rs.config()

    rs.config.enable_device_from_file(config, args.input)

    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)


    profile = pipeline.start(config)

    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()

    cv2.namedWindow("Depth Stream", cv2.WINDOW_AUTOSIZE)
    cv2.namedWindow("Color Stream", cv2.WINDOW_AUTOSIZE)
    pinhole_camera_intrinsic = o3d.camera.PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)

    geometrie_added = False
    vis = o3d.visualization.VisualizerWithKeyCallback()

    vis.create_window("Pointcloud")
    pointcloud = o3d.geometry.PointCloud()

if exists(path_bag):
            user_input = input("%s exists. Overwrite? (y/n) : " % path_bag)
            if user_input.lower() == 'n':
                exit()

    # Create a pipeline
    pipeline = rs.pipeline()

    #Create a config and configure the pipeline to stream
    #  different resolutions of color and depth streams
    config = rs.config()

    if args.record_imgs or args.record_rosbag:
        # note: using 640 x 480 depth resolution produces smooth depth boundaries
        #       using rs.format.bgr8 for color image format for OpenCV based image visualization
        config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
        config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
        if args.record_rosbag:
            config.enable_record_to_file(path_bag)
    if args.playback_rosbag:
        config.enable_device_from_file(path_bag, repeat_playback=True)

    # Start streaming
    profile = pipeline.start(config)
    depth_sensor = profile.get_device().first_depth_sensor()

    # Using preset HighAccuracy for recording
    if args.record_rosbag or args.record_imgs:
        depth_sensor.set_option(rs.option.visual_preset, Preset.HighAccuracy)

    # Getting the depth sensor's depth scale (see rs-align example for explanation)
    depth_scale = depth_sensor.get_depth_scale()

user_input = input("%s exists. Overwrite? (y/n) : " % path_bag)
            if user_input.lower() == 'n':
                exit()

    # Create a pipeline
    pipeline = rs.pipeline()

    #Create a config and configure the pipeline to stream
    #  different resolutions of color and depth streams
    config = rs.config()

    if args.record_imgs or args.record_rosbag:
        # note: using 640 x 480 depth resolution produces smooth depth boundaries
        #       using rs.format.bgr8 for color image format for OpenCV based image visualization
        config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
        config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
        if args.record_rosbag:
            config.enable_record_to_file(path_bag)
    if args.playback_rosbag:
        config.enable_device_from_file(path_bag, repeat_playback=True)

    # Start streaming
    profile = pipeline.start(config)
    depth_sensor = profile.get_device().first_depth_sensor()

    # Using preset HighAccuracy for recording
    if args.record_rosbag or args.record_imgs:
        depth_sensor.set_option(rs.option.visual_preset, Preset.HighAccuracy)

    # Getting the depth sensor's depth scale (see rs-align example for explanation)
    depth_scale = depth_sensor.get_depth_scale()

def test():
    # Configure depth and color streams...
    # ...from Camera 1
    pipeline_1 = rs.pipeline()
    config_1 = rs.config()
    config_1.enable_device('802212060621')
    config_1.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

    # Start streaming from both cameras
    pipeline_1.start(config_1)
    img_counter = 0
    try:
        while True:

            # Camera 1
            # Wait for a coherent pair of frames: depth and color
            frames_1 = pipeline_1.wait_for_frames()
            color_frame_1 = frames_1.get_color_frame()

            #depth_frame_1 or
            if not color_frame_1:
                continue
            # Convert images to numpy arrays