From 0bda29c5184c4d6115abd91c698ce5d0c23e426e Mon Sep 17 00:00:00 2001 From: BinghamtonRover Date: Thu, 15 May 2025 12:12:57 -0400 Subject: [PATCH 1/2] Fix additional edge case when stopping realsense --- src/realsense_internal.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/realsense_internal.cpp b/src/realsense_internal.cpp index 1bc476d..d83c482 100644 --- a/src/realsense_internal.cpp +++ b/src/realsense_internal.cpp @@ -75,7 +75,9 @@ BurtRsStatus burt_rs::RealSense::startStream() { } void burt_rs::RealSense::stopStream() { - pipeline.stop(); + if (streaming) { + pipeline.stop(); + } streaming = false; hasDevice = false; } From b1d65af96e791e6a8b47177a58495d96ea450055 Mon Sep 17 00:00:00 2001 From: Gold87 <91761103+Gold872@users.noreply.github.com> Date: Wed, 13 Aug 2025 17:12:54 -0400 Subject: [PATCH 2/2] Don't close sensors when stopping the stream - It's not necessary --- src/realsense_internal.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/realsense_internal.cpp b/src/realsense_internal.cpp index f8ac415..7978278 100644 --- a/src/realsense_internal.cpp +++ b/src/realsense_internal.cpp @@ -78,9 +78,6 @@ void burt_rs::RealSense::stopStream() { if (streaming) { pipeline.stop(); } - for (auto sensor : device.query_sensors()) { - sensor.close(); - } streaming = false; hasDevice = false; }