Playback with callback not working

[lmuffang]

Hello,

I am quite new to librealsense and I am having trouble playing back a recorded bag (recorded with rs-record).

I am reading IMU values and camera frames with a callback as shown in the callback example to have all IMU measurements. My code works perfectly with the camera directly but when I read a bag file and use a playback, I do not get all measurements as sometimes I get 2 images with no IMU measurements between them.

Here is a view of the code I use:

    auto callback = [&](const rs2::frame& frame)
    {
        std::lock_guard<std::mutex> lock(mutex);
        if (rs2::frameset fs = frame.as<rs2::frameset>())
        {
            // Handle image
        }
        else if (rs2::motion_frame m_frame = frame.as<rs2::motion_frame>())
        {
            if (m_frame.get_profile().stream_name() == "Gyro")
            {
                rs2_vector data_g = m_frame.get_motion_data();
               //Handle Gyro data
            }
            else if (m_frame.get_profile().stream_name() == "Accel") 
            {
                 //Handle Accel data
            }
        }
    };
    bool run_bag = true;  //code works perfectly with this to false
    auto pipe = std::make_shared<rs2::pipeline>();
    rs2::config cfg;
    if (run_bag){
        cfg.enable_device_from_file("<mybag>.bag", false);
    }
    cfg.enable_stream(RS2_STREAM_FISHEYE, 1);
    cfg.enable_stream(RS2_STREAM_FISHEYE, 2);
    cfg.enable_stream(RS2_STREAM_GYRO);
    cfg.enable_stream(RS2_STREAM_ACCEL);
    // Start streaming through the callback with configuration
    pipe->start(cfg, callback);
    rs2::device device = pipe->get_active_profile().get_device();
    rs2::playback playback = device.as<rs2::playback>();

---

Required Info
Camera Model	{ T265 }
Firmware Version	(0.1.0.279)
Operating System & Version	{Linux (Ubuntu 20)
Kernel Version (Linux Only)	(5.4.0-56)
Platform	PC
SDK Version	{ legacy / 2.<29>.<0> }
Language	{C++}
Segment	{Robot/Smartphone/VR/AR/others }

[07hokage]

hey @lmuffang , did you try to enable the pose stream too? other than fisheye stream, im not getting any other streams despite enabling them all

[aangerma]

Hello @lmuffang ,
#8461
can you please check if this PR solves your IMU drops ?
thanks

[RealSenseSupport]

Hi,

Will you be needing further help with this?

If we don’t hear from you in 7 days, this issue will be closed.

Thanks