How to use the pyrealsense2.format function in pyrealsense2

# configure the color stream
        self._cfg.enable_stream(
            rs.stream.color,
            RealSenseSensor.COLOR_IM_WIDTH,
            RealSenseSensor.COLOR_IM_HEIGHT,
            rs.format.bgr8,
            RealSenseSensor.FPS
        )

        # configure the depth stream
        self._cfg.enable_stream(
            rs.stream.depth,
            RealSenseSensor.DEPTH_IM_WIDTH,
            360 if self._depth_align else RealSenseSensor.DEPTH_IM_HEIGHT,
            rs.format.z16,
            RealSenseSensor.FPS
        )

def __init__(self, configuration_path):
        super(RealsenseController, self).__init__()
        self._cfg = readConfiguration(configuration_path)
        self.width = self._cfg["FRAME_ARGS"]["width"]
        self.height = self._cfg["FRAME_ARGS"]["height"]
        self.fps = self._cfg["FRAME_ARGS"]["fps"]
        self.serial_id = self._cfg["DEVICE_CONFIGURATION"]["serial_id"]

        self.points = rs.points()
        self.pipeline = rs.pipeline()
        config = rs.config()
        if self.serial_id != '':
            config.enable_device(serial=self.serial_id)
        config.enable_stream(rs.stream.infrared, 1, 1280, 720, rs.format.y8, self.fps)
        config.enable_stream(rs.stream.infrared, 2, 1280, 720, rs.format.y8, self.fps)
        config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, self.fps)
        config.enable_stream(rs.stream.color, self.width, self.height, rs.format.bgr8, self.fps)

        self.profile = self.pipeline.start(config)
        align_to = rs.stream.color
        self.align = rs.align(align_to)

#####################################################

# First import the library
import pyrealsense2 as rs
# Import Numpy for easy array manipulation
import numpy as np
# Import OpenCV for easy image rendering
import cv2

# 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()
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 streaming
profile = pipeline.start(config)

# Getting the depth sensor's depth scale (see rs-align example for explanation)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: " , depth_scale)

# We will be removing the background of objects more than
#  clipping_distance_in_meters meters away
clipping_distance_in_meters = 1 #1 meter
clipping_distance = clipping_distance_in_meters / depth_scale

# Create an align object

def _config_pipe(self):
        """Configures pipeline to stream color and depth.
        """
        self._cfg.enable_device(self._serial)

        # configure color stream
        self._cfg.enable_stream(
            rs.stream.color, self._width, self._height, rs.format.rgb8, self._fps,
        )

        # configure depth stream
        self._cfg.enable_stream(
            rs.stream.depth, self._width, self._height, rs.format.z16, self._fps,
        )