librealsense: Memory leak on restarting streams

#include <librealsense2/rs.hpp>
#include <iostream>

static const int restarts = 200;
static int restarts_count = 0;
static const int frames_to_restart = 5;

// Global RS variables
rs2::context g_context;
std::shared_ptr<rs2::pipeline> g_pipeline = std::make_shared<rs2::pipeline>();
std::shared_ptr<rs2::config> g_config = std::make_shared<rs2::config>();

class StreamDataController {

public:

    void init() {

        auto devices = g_context.query_devices();
        
        if (devices.size() == 0)
            throw "Realsense2DepthProvider: Can't enumerate Realsense2 camera";

        g_config->enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
    }

    void release() {
        g_config->disable_all_streams();
    }

    void start() {
        g_pipeline->start(*g_config);
    }

    void stop() {
        g_pipeline->stop();
    }

    void handle() {
        int frame_count = 0;
        while (frame_count < frames_to_restart) {
            auto frames = g_pipeline->wait_for_frames();

            auto depth_frame = frames.get_depth_frame();

            // Get the depth frame's dimensions
            float width = depth_frame.get_width();
            float height = depth_frame.get_height();

            // Query the distance from the camera to the object in the center of the image
            float dist_to_center = depth_frame.get_distance(width / 2, height / 2);

            std::cout << "<Depth sensor> frame=" << frame_count << "\tThe camera is facing an object " << dist_to_center << " meters away" << std::endl;

            ++frame_count;
        }
    }
};

int main()
{
    for (; restarts_count <= restarts; ++restarts_count) {
        std::cout << "START REALSENSE #" << restarts_count << std::endl;

        try {
            StreamDataController controller;

            controller.init();
            controller.start();

            controller.handle();

            controller.stop();
            controller.release();
        }
        catch (const rs2::error& e) {
            std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
        }
    }
    std::cin.get();

    return 0;
}

cmake_minimum_required(VERSION 3.5.0)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

set(PROJECT_NAME rs_leak_test)
project(${PROJECT_NAME})


set(CMAKE_CONFIGURATION_TYPES Release)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)

# Realsense SDK
set(RS_INSTALL_DIR "C:\\Program Files (x86)\\Intel RealSense SDK 2.0")
set(RS_INCLUDE_DIR "${RS_INSTALL_DIR}\\include")
set(RS_BIN_DIR "${RS_INSTALL_DIR}\\bin\\${CMAKE_VS_PLATFORM_TOOLSET_HOST_ARCHITECTURE}")
set(RS_BINS "${RS_BIN_DIR}\\realsense2.dll")
set(RS_LIB_DIR "${RS_INSTALL_DIR}\\lib\\${CMAKE_VS_PLATFORM_TOOLSET_HOST_ARCHITECTURE}")
set(RS_LIBS realsense2)


if(NOT EXISTS ${RS_INSTALL_DIR})
	message("There's no such dir as ${RS_INSTALL_DIR}" FATAL_ERROR)
endif()

include_directories(${RS_INCLUDE_DIR})
link_directories(${RS_LIB_DIR})

add_executable(${PROJECT_NAME} main.cpp)
target_link_libraries(${PROJECT_NAME} ${RS_LIBS})


add_custom_command(TARGET ${PROJECT_NAME}
                   POST_BUILD
                   COMMAND ${CMAKE_COMMAND} -E copy ${RS_BINS} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${CMAKE_CONFIGURATION_TYPES}/)