Unable to Stop Realsense Pipeline! [C++]

[HippoEug]

Required Info
Camera Model	D400
Firmware Version	05.09.02.00
Operating System & Version	Win 10
Kernel Version (Linux Only)
Platform	PC
SDK Version	2.16.1
Language	C++
Segment	others

Introduction

Hi! I am trying to convert/split a .bag file into .csv and .png for further data analytics. However, I am unable to stop the pipeline when the conversion is complete. I borrowed most of the conversion code from rs-convert.exe.

Goal

For example, given a .bag file, in this case record.bag, I am able to produce realsense_Color_7.png, realsense_Depth_5.png, and most importantly realsense_Depth_5.csv.

Issue

After conversion, I have confirmed the realsense_Color_7.png, realsense_Depth_5.png, and realsense_Depth_5.csv opens just fine, but the pipeline refuses to close, resulting in a Not Responding Program since my conversion function is written as a blocking one.

Conversion Function Code:

if (convert_bag_button) {
	rs2::config convertConfig;
	std::vector<std::shared_ptr<rs2::tools::converter::converter_base>> convertToCSV;
	std::vector<std::shared_ptr<rs2::tools::converter::converter_base>> convertToPNG;

	convertToCSV.push_back(std::make_shared<rs2::tools::converter::converter_csv>("realsense"));
	convertToPNG.push_back(std::make_shared < rs2::tools::converter::converter_png>("realsense"));
	convertConfig.enable_device_from_file("record.bag");

	pipe->stop();
	pipe->start(convertConfig);
	auto device = pipe->get_active_profile().get_device();
	rs2::playback playback = device.as<rs2::playback>();
	playback.set_real_time(false);
	auto duration = playback.get_duration();
	int progress = 0;
	int frameNumber = 0ULL;

	while (true) {
		auto frameset_c = pipe->wait_for_frames();

		if (frameset_c[0].get_frame_number() == 5 || frameset_c[0].get_frame_number() == 6 || frameset_c[0].get_frame_number() == 7) { // If end of frame, bag loops again, hence get_frame_number resets to 1 and is smaller
			std::for_each(convertToCSV.begin(), convertToCSV.end(), [&frameset_c](std::shared_ptr<rs2::tools::converter::converter_base>& converter) {
				converter->convert(frameset_c);
			});
			std::cout << "\nCONVERTING CSV" << std::endl;
			std::for_each(convertToCSV.begin(), convertToCSV.end(), [](std::shared_ptr<rs2::tools::converter::converter_base>& converter) {
				converter->wait();
			});
			std::cout << "CONVERTING PICTURES" << std::endl;
			std::for_each(convertToPNG.begin(), convertToPNG.end(), [&frameset_c](std::shared_ptr<rs2::tools::converter::converter_base>& converter) {
				converter->convert(frameset_c);
			});
			std::for_each(convertToPNG.begin(), convertToPNG.end(), [](std::shared_ptr<rs2::tools::converter::converter_base>& converter) {
				converter->wait();
			});
			break;
		}

		frameNumber = frameset_c[0].get_frame_number();
	}

	std::cout << "\nDONE!" << std::endl << std::endl; // EXECUTES

	pipe->stop();
	std::cout << "HERE" << std::endl; // DOES NOT EXECUTE
	pipe->start(standardConfig);
			
	convert_bag_button = false;
}

Reason

I would like to stop the pipeline because the pipeline is with the configuration convertConfig.enable_device_from_file("record.bag");, and after this conversion I would like to restart the pipeline with a configuration for streaming Color and/or Depth (pipe->start(standardConfig);)

End

I have tested with just CSV conversion without PNG conversion, with the same results. The pipeline would not stop. Any ideas on how I would fix this is appreciated. Many thanks!

[HippoEug]

Hello @RealSense-Customer-Engineering , any updates on what I could change to fix this? Many thanks!! 👍 😺

[Tuebel]

I have experienced the same issue. The problem seems to be this line:
playback.set_real_time(false);
If i use playback.set_real_time(true); the pipeline stops as expected.

[HippoEug]

Hello @Tuebel , i will give this a shot. Thank you very much!!

[HippoEug]

This works @Tuebel, thank you very much!! Any idea why this solves it?

[Tuebel]

@HippoEug Nope this was just a lucky shot.
I didn't have time to look into the source code of librealsense yet.
But as I would like to use the non-real-time functionality this issue is still relevant for ne.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
HI HippoEug,

Is the workaround suggested by Tuebel working for you?

Thanks!

[HippoEug]

Hi @RealSense-Customer-Engineering , the workaround works. However, it would be nice to have an explanation of why simply changing this parameter fixes this issue. Is this a bug? Good to know in case there are any side effects (which I have not discovered so far)

[mcasl]

Similar behavior using Python in this related issue:
#3126

[RealSenseCustomerSupport]

---

HI HippoEug,

Wonder if there is any update?

Thanks!

[RealSenseCustomerSupport]

---

Hi HippoEug,

Wonder if you have any any update or still need help on this one?

Thanks!

[soarwing52]

@RealSense-Customer-Engineering @RealSenseCustomerSupport
I'm using the latest python wrapper but still get the freeze situation.
I can either set_real_time(True) which will skip frames

or enable_device_from_file(filename,False)
and
try:
except RuntimeError:

only this can stop the pipeline and keep the program running
which either is not so ideal.