import os

import cv2
import numpy as np
import pyarrow as pa
import pyrealsense2 as rs
from dora import Node

IMAGE_WIDTH = int(os.getenv("IMAGE_WIDTH", "640"))
IMAGE_HEIGHT = int(os.getenv("IMAGE_HEIGHT", "480"))
FPS = 30
CAMERA_ID = os.getenv("CAMERA_ID")
print("camera ID:", CAMERA_ID)
pipe = rs.pipeline()
config = rs.config()
config.enable_device(CAMERA_ID)
config.enable_stream(rs.stream.color, IMAGE_WIDTH, IMAGE_HEIGHT, rs.format.bgr8, FPS)
profile = pipe.start(config)

node = Node()

for event in node:
    frames = pipe.wait_for_frames()
    color_frame = frames.get_color_frame()
    color_images = np.asanyarray(color_frame.get_data())
    node.send_output("image", pa.array(color_images.ravel()))
    cv2.imshow(CAMERA_ID, color_images)
    if cv2.waitKey(1) & 0xFF == ord("q"):
        break