====================
Compare Color Image and Depth Image via Widget
====================

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    <div style="background: #C3F8FF" class="admonition note custom">
        <p style="background: light-blue" class="admonition-title">
            Follow along: Compare Color Image and Depth Image via Widget
        </p>
        <div class="line-block">
            <div class="line">The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.</div>
        </div>
        <ul>
            <li>Open the 01_06_Depth_Comparison_2.ipynb Jupyter Notebook.</li>
            <li>Compares the rgb image and the depth image and outputs it to the display via jupyter notebook.</li>

        </ul>
        <div class="line">(The Jetson Board used for these examples are => Jetson Nano)</div>
        
    </div>


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    <hr>

-   01_06_Depth_Comparison_2.ipynb
-   | Running the cell code.
    | `Ctrl + Enter`

.. thumbnail:: /_images/depth_camera/depth_ex_2-1.png

-   Load the modules needed to run your code.

.. code-block:: python

    import os
    import numpy as np
    import matplotlib.pyplot as plt
    from IPython.display import clear_output
    import pyrealsense2 as rs

-   Create the RealSense pipeline and configuration.

.. code-block:: python

    # Create the RealSense pipeline and configuration
    pipe = rs.pipeline()
    cfg = rs.config()
    print("Pipeline is created")
    print("Searching Devices..")
    selected_devices = []

-   Detect and list available RealSense devices.

.. code-block:: python

    # Detect and list available RealSense devices
    for d in rs.context().devices:
        selected_devices.append(d)
        print(d.get_info(rs.camera_info.name))
    if not selected_devices:
        print("No RealSense device is connected!")

    rgb_sensor = depth_sensor = None

-   Find RGB and Depth sensors in the connected devices.

.. code-block:: python

    # Find RGB and Depth sensors in the connected devices
    for device in selected_devices:
        print("Required sensors for device:", device.get_info(rs.camera_info.name))
        for s in device.sensors:
            if s.get_info(rs.camera_info.name) == 'RGB Camera':
                print(" - RGB sensor found")
                rgb_sensor = s
            if s.get_info(rs.camera_info.name) == 'Stereo Module':
                depth_sensor = s
                print(" - Depth sensor found")

    colorizer = rs.colorizer()

-   Start the RealSense pipeline.

.. code-block:: python

    # Start the RealSense pipeline
    profile = pipe.start(cfg)

-   Create a figure for displaying frames and display.

.. code-block:: python

    # Create a figure for displaying frames
    fig, axs = plt.subplots(nrows=1, ncols=2, figsize=(12, 4))
    title = ["Depth Image", "RGB Image"]

    try:
        while True:  # Enter a continuous loop for image display
            frameset = pipe.wait_for_frames()

            depth_frame = frameset.get_depth_frame()
            color_frame = frameset.get_color_frame()

            colorized_streams = []
            if depth_frame:
                colorized_streams.append(np.asanyarray(colorizer.colorize(depth_frame).get_data()))
            if color_frame:
                colorized_streams.append(np.asanyarray(color_frame.get_data()))

            # Display colorized frames in subplots
            for i, ax in enumerate(axs.flatten()):
                if i >= len(colorized_streams):
                    continue
                plt.sca(ax)
                plt.imshow(colorized_streams[i])
                plt.title(title[i])
            clear_output(wait=True)  # Clear previous frames from the display
            plt.tight_layout()
            plt.pause(0.1)  # Pause to control frame rate

    except KeyboardInterrupt:
        pass  # Exit the loop gracefully on keyboard interrupt

    finally:
        pipe.stop()  # Stop the RealSense pipeline
        print("Done!")

-   If executed correctly, the following window will appear on the Jupyter Notebook.

.. thumbnail:: /_images/depth_camera/depth_ex_2-2.png