CODEWITHSUNDEEP
c++recordrealsense
Gytis Bernotas
Gytis Bernotas

Reputation: 59

Cannot rename rosbag file after recording

I would like to record a rosbag file with a specific name; however, I only know it after the recording is halfway done, so I cannot set the filename here:

cfg.enable_record_to_file("some/path/filename.bag");

I have tried to rename the new file as shown below without satisfactory success. I have also used std::experimental::filesystem::rename, with the same outcome. What did work was to record a second video (on the fly) and only then rename the first. This indicates that the (both) rename functions work, but I cannot change the filename it as it seems the file is still open in my current program. 

int main(int argc, char* argv[])
{
    rs2::config cfg;
    rs2::device device;
    auto pipe = std::make_shared<rs2::pipeline>();

    cfg.disable_all_streams();
    cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);

    cfg.enable_record_to_file("tmp.bag");
    pipe->start(cfg);
    device = pipe->get_active_profile().get_device();
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    device.as<rs2::recorder>().pause();
    pipe->stop();

    int res = std::rename("tmp.bag", "test.bag");
    if (res == 0)
        std::cout << "File successfully renamed" << std::endl;
    else
        std::cout << "Error renaming file" << std::endl;
    return 0;
}

I wonder how to 'unload' the produced video from the pipeline (pipe->stop() did not work), so I can rename the generated rosbag files on the fly.

Upvotes: 1

Views: 663

Answers (1)

Gytis Bernotas
Gytis Bernotas

Reputation: 59

As suggested by @TedLyngmo, adding curly brackets allowed me to change the filename on the fly. Code as follows:


int main(int argc, char* argv[])
{
    {
        rs2::config cfg;
        rs2::device device;
        auto pipe = std::make_shared<rs2::pipeline>();

        cfg.disable_all_streams();
        cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);

        cfg.enable_record_to_file("tmp.bag");
        pipe->start(cfg);
        device = pipe->get_active_profile().get_device();
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
        device.as<rs2::recorder>().pause();
        pipe->stop();
    }
    int res = std::rename("tmp.bag", "test.bag");
    if (res == 0)
        std::cout << "File successfully renamed" << std::endl;
    else
        std::cout << "Error renaming file" << std::endl;
    return 0;
}

EDIT

I studied rs-record-playback a bit more and the code below fixes the renaming issue. 


int main(int argc, char* argv[]) 
{
    rs2::device device;
    auto pipe = std::make_shared<rs2::pipeline>();

    pipe->start();
    device = pipe->get_active_profile().get_device();

    if (!device.as<rs2::recorder>())
    {
        pipe->stop(); // Stop the pipeline with the default configuration
        pipe = std::make_shared<rs2::pipeline>();

        rs2::config cfg;
        cfg.disable_all_streams();
        cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
        cfg.enable_record_to_file("tmp.bag");

        pipe->start(cfg); 
        device = pipe->get_active_profile().get_device();
    }
    // record for 1 sec, if conditions can be added to check if recorder is initialised 
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));

    // if condition can be added to check if recording has been completed
    pipe->stop();
    pipe = std::make_shared<rs2::pipeline>(); // reset the shared pointer

    pipe->start();
    device = pipe->get_active_profile().get_device();

    int res = std::rename("tmp.bag", "testing.bag");
    if (res == 0)
        std::cout << "File successfully renamed" << std::endl;
    else
        std::cout << "Error renaming file" << std::endl;

    pipe->stop();
    pipe = std::make_shared<rs2::pipeline>();
}

Upvotes: 1

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