import pyrealsense2.pyrealsense2 as rs
import numpy as np
import cv2

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()

# Get device product line for setting a supporting resolution
pipeline_wrapper = rs.pipeline_wrapper(pipeline)
pipeline_profile = config.resolve(pipeline_wrapper)
device = pipeline_profile.get_device()
device_product_line = str(device.get_info(rs.camera_info.product_line))

found_rgb = True

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

# Start streaming
pipeline.start(config)

try:
    while True:

        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        if not depth_frame:
            continue

        # Convert images to numpy arrays
        depth_image = np.asanyarray(depth_frame.get_data())

        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
        depth_colormap_c = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.2), cv2.COLORMAP_BONE)
        depth_colormap = cv2.cvtColor(depth_colormap_c, cv2.COLOR_BGR2GRAY)
        # depth_colormap = depth_colormap_c
        # print(type(depth_colormap))

        # Show images
        cv2.imshow('RealSense', depth_colormap)
        cv2.waitKey(1)

finally:

    # Stop streaming
    pipeline.stop()