Merge branch 'main' of github.com:UT-Austin-RobIn/robot_learning_ws i…

…nto main

src/fri_demo/ColorImage.py

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+# This is the ColorImage class
+
+import pyrealsense2 as rs
+import numpy as np
+import cv2
+
+# Matplotlib testing code dependencies 
+from PIL import Image
+import matplotlib
+import tkinter as tk
+matplotlib.use('TkAgg')  # or 'Qt5Agg' or any other GUI backend
+import matplotlib.pyplot as plt
+
+
+class RealSenseCamera:
+  def __init__(self):
+    self.pipeline = rs.pipeline()
+    self.config = rs.config()
+
+    # Configure the pipeline
+    self._configure_pipeline()
+
+  def _configure_pipeline(self):
+    self.config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+    self.profile = self.pipeline.start(self.config)
+
+  def get_frame(self):
+    frames = self.pipeline.wait_for_frames()
+    color_frame = frames.get_color_frame()
+    color_image = np.asanyarray(color_frame.get_data())
+    color_image_rgb = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)
+    return color_image_rgb
+
+if __name__ == "__main__":
+  camera = RealSenseCamera()
+  imgplot = plt.imshow(camera.get_frame())
+  plt.show()