code: def _config_pipe(self):
          
          self._cfg.enable_device(self.id)
  
          # configure the color stream
          self._cfg.enable_stream(
              rs.stream.color,
              RealSenseSensor.COLOR_IM_WIDTH,
              RealSenseSensor.COLOR_IM_HEIGHT,
              rs.format.bgr8,
              RealSenseSensor.FPS
          )
  
          # configure the depth stream
          self._cfg.enable_stream(
              rs.stream.depth,
              RealSenseSensor.DEPTH_IM_WIDTH,
              360 if self._depth_align else RealSenseSensor.DEPTH_IM_HEIGHT,
              rs.format.z16,
              RealSenseSensor.FPS
          )
docs: Configures the pipeline to stream color and depth.