real senseD435 python获取图像保存方法

import sys
sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
import cv2
import pyrealsense2 as rs
import numpy as np

config = rs.config()
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.infrared, 640, 480, rs.format.y8, 3）

config.enable_record_to_file('./d415data.bag')

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

try:
    while True:
        frames = pipeline.wait_for_frames()
        color_frame = frames.get_color_frame()
        depth_frame = frames.get_depth_frame()
        if not depth_frame or not color_frame:
            continue
        color_image = np.asanyarray(color_frame.get_data())
        depth_color_frame = rs.colorizer().colorize(depth_frame)
        depth_color_image = np.asanyarray(depth_color_frame.get_data())
        images = np.hstack((color_image, depth_color_image))
        cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense', images)
        if cv2.waitKey(1) & 0xff == 27:
            break
finally:
    pipeline.stop()
    cv2.destroyAllWindows()