Callback function does not provide color frames with depth frames

Hi,
i am trying to get color and depth frames using a callback function.
While using rs2_pipeline_start_with_config_and_callback i am getting only the depth frames. While using pooling via rs2_pipeline_start_with_config i am getting right the color and depth frames.

Configuration with only color stream works fine.

Is threre any further configuration to enable color frames? Thank you.

RS2_API_MAJOR_VERSION 2
RS2_API_MINOR_VERSION 47

Code for testing:

#include <librealsense2/rs.h>
#include <librealsense2/h/rs_pipeline.h>
#include <librealsense2/h/rs_option.h>
#include <librealsense2/h/rs_frame.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>


int check_rs_error(
    rs2_error* e
) {
    if (e != NULL) {
        printf(
            "%s(%s) -> %s\n",
            rs2_get_failed_function(e),
            rs2_get_failed_args(e),
            rs2_get_error_message(e));
        return(EXIT_FAILURE);
    }

    return EXIT_SUCCESS;
}

void frame_callback(
    rs2_frame *frame,
    void *args
) {
    rs2_stream type;
    rs2_format format;
    int index, uid, fps;
    rs2_error* e = NULL;

    const rs2_stream_profile *stream_profile =
        rs2_get_frame_stream_profile(frame, &e);
    check_rs_error(e);

    rs2_get_stream_profile_data(
        stream_profile, &type, &format, &index, &uid, &fps, &e);
    check_rs_error(e);

    printf("%s\n", rs2_stream_to_string(type));

    rs2_release_frame(frame);
}

int main(int argc, char *argv[]) {
    rs2_device* dev;
    rs2_pipeline* pipeline;
    rs2_pipeline_profile* pipeline_profile;
    rs2_config* config;
    rs2_error* e = NULL;

    int dev_count;
    rs2_context* ctx;
    rs2_device_list* device_list;

    ctx = rs2_create_context(RS2_API_VERSION, &e);
    check_rs_error(e);

    device_list = rs2_query_devices(ctx, &e);
    check_rs_error(e);

    dev_count = rs2_get_device_count(device_list, &e);
    check_rs_error(e);

    if (dev_count == 0) {
        printf("dev_count == 0\n");
        return EXIT_FAILURE;
    }

    dev = rs2_create_device(device_list, 0, &e);

    if (dev == NULL) {
        printf("dev == NULL\n");
        return EXIT_FAILURE;
    }

    pipeline = rs2_create_pipeline(ctx, &e);
    check_rs_error(e);

    config = rs2_create_config(&e);
    check_rs_error(e);


    rs2_config_enable_stream(
        config, RS2_STREAM_COLOR, 0, 960, 540, RS2_FORMAT_RGB8, 6, &e);
    check_rs_error(e);

    rs2_config_enable_stream(
        config, RS2_STREAM_DEPTH, 0, 320, 240, RS2_FORMAT_Z16, 30, &e);
    check_rs_error(e);


    if (argc >= 2) {
        pipeline_profile = rs2_pipeline_start_with_config_and_callback(
            pipeline, config, frame_callback, NULL, &e);

        check_rs_error(e);
        sleep(10);

    } else {
        pipeline_profile = rs2_pipeline_start_with_config(pipeline, config, &e);
        check_rs_error(e);

        rs2_stream type;
        rs2_format format;
        int index, uid, fps;

        for (size_t i = 0; i < 100; ++i) {
            rs2_frame* frames =
            rs2_pipeline_wait_for_frames(pipeline, RS2_DEFAULT_TIMEOUT, &e);
            check_rs_error(e);

            int num_of_frames = rs2_embedded_frames_count(frames, &e);
            check_rs_error(e);

            for (int i = 0; i < num_of_frames; ++i) {

                rs2_frame* frame = rs2_extract_frame(frames, i, &e);
                check_rs_error(e);

                const rs2_stream_profile *stream_profile =
                    rs2_get_frame_stream_profile(frame, &e);
                check_rs_error(e);

                rs2_get_stream_profile_data(
                    stream_profile, &type, &format, &index, &uid, &fps, &e);
                check_rs_error(e);

                printf("%s\n", rs2_stream_to_string(type));

                rs2_release_frame(frame);
            }
            rs2_release_frame(frames);
        }
    }

    return EXIT_SUCCESS;
}

rs2_config_enable_stream(
config, RS2_STREAM_COLOR, 0, 960, 540, RS2_FORMAT_RGB8, 6, &e);
check_rs_error(e);

rs2_config_enable_stream(
config, RS2_STREAM_DEPTH, 0, 320, 240, RS2_FORMAT_Z16, 30, &e);
check_rs_error(e);

Zulkifli Halim

July 29, 2021 14:08

Hello Contrix,

Thank you for contacting us.

Can you share with us the screenshot of the output that you get for both rs2_pipeline_start_with_config_and_callback and rs2_pipeline_start_with_config?

Sincerely,

Intel Customer Support

Contrix Hanaji

July 29, 2021 14:15

Hello Zulkifli,

the output with rs2_pipeline_start_with_config is like:

Depth
Color
Depth
Color
Depth
Color
Depth
Color
Depth

the output with rs2_pipeline_start_with_config_and_callback is like:

Depth
Depth
Depth
Depth
Depth
Depth
Depth

Michael Tandy

August 09, 2021 11:37

Looks like you're running your colour stream at 6fps while your depth stream runs at 30fps. Does the problem remain if you run them both at 30fps?

August 09, 2021 13:50

Of course the streams were running for some times. The result is the same for same frequency 30 Hz.

I tested the approximately same program (different resolution and fps) with D455 and the result is same - no color frames with callback function.

Callback function does not provide color frames with depth frames

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