How to use the pyrealsense2.format.rgb8 function in pyrealsense2

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()

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)

        geometrie_added = False
        vis = Visualizer()

        vis.create_window("Pointcloud")

"""
  _____           _    _               
 |_   _|___  ___ | |_ (_) _ __    __ _ 
   | | / _ \/ __|| __|| || '_ \  / _` |
   | ||  __/\__ \| |_ | || | | || (_| |
   |_| \___||___/ \__||_||_| |_| \__, |
									   |___/ 

"""
if __name__ == "__main__":
    try:
        c = rs.config()
        c.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 6)
        c.enable_stream(rs.stream.infrared, 1, 1280, 720, rs.format.y8, 6)
        c.enable_stream(rs.stream.infrared, 2, 1280, 720, rs.format.y8, 6)
        c.enable_stream(rs.stream.color, 1280, 720, rs.format.rgb8, 6)
        device_manager = DeviceManager(rs.context(), c)
        device_manager.enable_all_devices()
        for k in range(150):
            frames = device_manager.poll_frames()
        device_manager.enable_emitter(True)
        device_extrinsics = device_manager.get_depth_to_color_extrinsics(frames)
    finally:
        device_manager.disable_streams()

import pyrealsense2 as rs
import numpy as np
import cv2
import time
from open3d import *
import os

if __name__=="__main__":
    align = rs.align(rs.stream.color)

    config = rs.config()
    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 15)
    pipeline = rs.pipeline()
    profile = pipeline.start(config)

    # get camera intrinsics
    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
    print(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    pinhole_camera_intrinsic = PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    # print(type(pinhole_camera_intrinsic))
    
    geometrie_added = False
    vis = Visualizer()
    vis.create_window("Pointcloud",640,480)
    pointcloud = PointCloud()
    i = 0

    try:

opt.background_color = np.asarray([1, 1, 1])
        backgroundColorFlag = 1
    # background_color ~=backgroundColorFlag
    return False

key_to_callback={}
key_to_callback[ord(" ")] = saveCurrentRGBD
key_to_callback[ord("Q")] = breakLoop
key_to_callback[ord("K")] = change_background_color

if __name__=="__main__":
    align = rs.align(rs.stream.color)

    config = rs.config()
    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 15)
    pipeline = rs.pipeline()
    profile = pipeline.start(config)

    # get camera intrinsics
    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
    # print(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    pinhole_camera_intrinsic = o3d.camera.PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    # print(type(pinhole_camera_intrinsic))
    
    geometrie_added = False
    vis = o3d.visualization.VisualizerWithKeyCallback()


    vis.create_window("Pointcloud",640,480)
    pointcloud = o3d.geometry.PointCloud()

import numpy as np 
from scipy import optimize
import open3d as o3d 
import copy
import sys
import os 
import time


if __name__=="__main__":
    align = rs.align(rs.stream.color)
    #align = rs.align(rs.stream.depth)

    config = rs.config()
    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 6)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 6)
    pipeline = rs.pipeline()
    profile = pipeline.start(config)

    # get camera intrinsics
    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
    # print(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    pinhole_camera_intrinsic = o3d.camera.PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    RealSense = rgbdTools.Camera(fx = intr.fx, fy = intr.fy, cx =  intr.ppx, cy = intr.ppy)
    TablePlane = keyPoints.Plane()
    # print(type(pinhole_camera_intrinsic))
    
    cv2.namedWindow('Color Stream', cv2.WINDOW_AUTOSIZE)
    # cv2.namedWindow('Depth Stream', cv2.WINDOW_AUTOSIZE)

    time_start = time.time()

import pyrealsense2 as rs
import numpy as np
import cv2
import time
from open3d import *
import os

if __name__=="__main__":
    align = rs.align(rs.stream.color)

    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.rgb8, 30)

    config.enable_record_to_file('object_detection2.bag') 

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

    # get camera intrinsics
    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
    print(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    pinhole_camera_intrinsic = PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    # print(type(pinhole_camera_intrinsic))
    
    cv2.namedWindow('Color Stream', cv2.WINDOW_AUTOSIZE)
    cv2.namedWindow('Depth Stream', cv2.WINDOW_AUTOSIZE)

    geometrie_added = False

import pyrealsense2 as rs
import numpy as np
import cv2
from datetime import datetime
from open3d import *
import os

if __name__=="__main__":
    align = rs.align(rs.stream.color)

    config = rs.config()
    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 15)
    pipeline = rs.pipeline()
    profile = pipeline.start(config)

    # get camera intrinsics
    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
    print(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    pinhole_camera_intrinsic = PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    # print(type(pinhole_camera_intrinsic))
    
    geometrie_added = False
    vis = Visualizer()
    vis.create_window("Pointcloud",640,480)
    pointcloud = PointCloud()
    i = 0

    while True:

opt.background_color = np.asarray([1, 1, 1])
        backgroundColorFlag = 1
    # background_color ~=backgroundColorFlag
    return False

if __name__=="__main__":

    bag_name = time.strftime('%Y-%m-%d_%H:%M:%S',time.localtime(time.time()))
    
    output_path = bag_name + '.bag'

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

    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.rgb8, 30)

    config.enable_record_to_file(output_path) 

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

    # get camera intrinsics
    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
    print(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    pinhole_camera_intrinsic = o3d.camera.PinholeCameraIntrinsic(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
    # print(type(pinhole_camera_intrinsic))
    
    cv2.namedWindow('Color Stream', cv2.WINDOW_AUTOSIZE)
    cv2.namedWindow('Depth Stream', cv2.WINDOW_AUTOSIZE)

    geometrie_added = False

intrinsics.fy, intrinsics.ppx,
                                            intrinsics.ppy)
    return out


if __name__ == "__main__":

    # 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, 1280, 720, rs.format.z16, 30)
    config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)

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

    # Using preset HighAccuracy for recording
    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()

    # We will not display the background of objects more than
    #  clipping_distance_in_meters meters away
    clipping_distance_in_meters = 3  # 3 meter
    clipping_distance = clipping_distance_in_meters / depth_scale
    # print(depth_scale)