lidar_record_v2.py

import argparse
import time
import pyrealsense2 as rs


# Create the parser
parser = argparse.ArgumentParser()

# Add an argument
parser.add_argument('--filename', type=str, required=True)
parser.add_argument('--duration', type=int, required=True)

# Parse the argument
args = parser.parse_args()

# Create a context object. This object owns the handles to all connected realsense devices
pipeline = rs.pipeline()
config = rs.config()
# print(dir(config))
config.enable_stream(rs.stream.depth, rs.format.z16, 30)
config.enable_stream(rs.stream.color, rs.format.bgr8, 30)
config.enable_record_to_file(args.filename + '.bag')
pipeline.start(config)
cnt = 1
start = time.time()

while time.time() - start < args.duration:
    # Create a pipeline object. This object configures the streaming camera and owns its handle
    frames = pipeline.wait_for_frames()
pipeline.stop()