error in reading bag files

[ywjia]

Required Info
Camera Model	D415
Firmware Version	5.10.3.0
Operating System & Version	Ubuntu 16
Kernel Version (Linux Only)	4.15
Platform	PC
SDK Version	2.16.0
Language	C++
Segment	VR

I have a sequence of bag files captured from realsenseviewer, named as test_####.bag. Each of the bag files contains ~1s of data with color frames and depth frames, with frame rates at 30fps for both (therefore there should be ~30 frames of color and depth frames in each bag file). I use the following code to read the bag files.

int main(int argc, char * argv[])
{
int start_shot = atoi(argv[1]); // = 0
int end_shot = atoi(argv[2]); // = 22
for(int s=start_shot; s<=end_shot; s++)
{
char bag_file[256]; sprintf(bag_file, "test_%04d.bag", s);
if (!fileExists(bag_file)) continue;
rs2::config cfg;
cfg.enable_device_from_file(bag_file);
rs2::pipeline pipe;
rs2::pipeline_profile profile = pipe.start(cfg);
auto color_stream = profile.get_stream(RS2_STREAM_COLOR).asrs2::video_stream_profile();
auto depth_stream = profile.get_stream(RS2_STREAM_DEPTH).asrs2::video_stream_profile();
int color_width = color_stream.width();
int color_height = color_stream.height();
int depth_width = depth_stream.width();
int depth_height = depth_stream.height();
float depth_scale = get_depth_scale(profile.get_device());
rs2_intrinsics c_intrin = color_stream.get_intrinsics();
rs2::frameset frameset;
bool frameset_read = true;
for(int i=0; i<10; i++) { // ignore the first 10 frameset
if(pipe.try_wait_for_frames(&frameset, 5000)==false) {
std::cout << "try_wait_for_frames timeout" << std::endl;
frameset_read = false;
break;
}
}
if (!frameset_read) continue;
if(pipe.try_wait_for_frames(&frameset, 5000)==false) {
std::cout << "try_wait_for_frames timeout" << std::endl;
continue;
}

    // process the frameset, which is commented out

   reture 0;

}

Sometime the program hangs in the middle of bags files (not always on the same one), and sometimes I encounter the following error:

"terminate called after throwing an instance of 'std::system_error'
what(): Invalid argument
./run_test: line 28: 10163 Aborted (core dumped) ./run_test 0 22"

I really cannot see how that can happen. Any advice is appreciated.
Particularly:
(1) Is the way of using "try_wait_for_frames()" in the above code correct?
(2) Is it necessary to call pipe.end(), corresponding to pipe.start(), at the end of each loop?

Thanks.

[ywjia]

Just to clarify: run_test is a bunch of repeated commands running over the same sequence of bag files. I did this because the error occurs randomly (sometime it does not happen, sometime it happens, but not necessarily on the same bag file.)

[ywjia]

I believe that it is the two calls to "try_wait_for_frames()" causing the error, since if I comment out these two lines, no error would occur. I also tried to use "wait_for_frames()" instead, as below:

frameset = pipe.wait_for_frames();

but the same error occurred.

[dorodnic]

Hi @ywjia
Did you try one of the later releases? Because the team fixed several problems related to ros-bag playback recently (#2646, #2598). The second PR is still only in the development branch, but can be related.

[ywjia]

I just installed the latest SDK, and after re-compiling my code, I got the following error message:

/home/user/librealsense-master/src/media/playback/playback_device.cpp:495: librealsense::playback_device::do_loop(T)::<lambda(dispatcher::cancellable_timer)> [with T = librealsense::playback_device::try_looping()::<lambda()>]: Assertion `m_is_started == false' failed.
./run_test: line 18: 28743 Aborted (core dumped)

All the bag files can be played in realsense-viewer without any issue.

Thanks.

[ywjia]

A second run got the following error message:

/home/user/librealsense-master/src/media/playback/playback_device.cpp:158: virtual librealsense::playback_device::~playback_device(): Assertion `0' failed.
./run_test: line 27: 3948 Aborted (core dumped)

[ywjia]

Using the latest development branch, the program hangs after running through a number of bag files.
No error message was shown, just hanging there on a random bag file.

[ywjia]

Actually, in another test with the latest release, the same issue of hanging occurs again.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Hi ywjia,

Wonder if there is any update?

Some data point here: I used your code, but did a simply dumping some intrinsics info in the processing part. Also keep a loop of repeating the bag file operation for 100 times in a roll.
With such kind of loop test, I was able to execute for multiple times (>500 times total), and no issue found yet.

This may help debug the issue, if still need to.

Thanks!

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
BTW, I did with a D415 off an Intel NUC w/ Ubuntu 16.04.

Thanks!

[ywjia]

Thanks, but I tested again (using firmware 05.10.13 ) and the issue is still there.

Sometimes it worked fine. But if I run many times, sometimes I got "Segmentation fault (core dumped)", sometime I got "librealsense::playback_device::do_loop(T)::<lambda(dispatcher::cancellable_timer)> [with T = librealsense::playback_device::try_looping()::<lambda()>]: Assertion `m_is_started == false' failed.
".

How many bag files did are there in each loop, and roughly how many frames in each bag file, please?

[RealSenseCustomerSupport]

Hi ywjia,

I mimicked your case: bag file for 1 second streaming, and tested 100 times for each loop.

Thanks,
Richard

[RealSenseCustomerSupport]

Hi ywjia,

Wonder if there is any update?

Thank you!

[ywjia]

I still have the issue. Is there any way I can sent the bag files to you to have a test, please?
The bag files are a total of ~800Mbytes. Thanks.

[RealSenseCustomerSupport]

---

Hi ywjia,

Please check back later with Realsense future releases and see it will help fix your issue.
This one will be closed for now.

Thanks,
Richard

[Olerum]

Hello! Did you ever find a solution to this problem? I have the exact same.