Get Video Stream Intrinsics Color

[crisannik26]

Hello,
i have got a little problem. I need to get intrinsics color data from intel realsense 435.
I have followed this link: https://github.com/IntelRealSense/librealsense/blob/master/wrappers/csharp/Documentation/cookbook.md#get-video-stream-intrinsics
and get depth intrinsics.

How can i do to get intrinsics color data?

Thank you so much

[MartyG-RealSense]

Hi @crisannik26 The C# code for the color intrinsics should be similar to the Cookbook's depth intrinsics. #9765 (comment) demonstrates retrieving the color intrinsics.

var pp = pipeline.Start(cfg);
_device = pp.Device;
var intrinsics = pp.GetStream<VideoStreamProfile>(Stream.Color).GetIntrinsics();

If you want to write your code in the same structure that the Cookbook uses then you could try something like this, defining 'di' and 'ci' variables to separately store the retrieved Depth and Color intrinsics in.:

var pipe = new Pipeline();
PipelineProfile selection = pipe.Start();
var depth_intrinsics = selection.GetStream<VideoStreamProfile>(Stream.Depth);
var color_intrinsics = selection.GetStream<VideoStreamProfile>(Stream.Color);
Intrinsics di = depth_intrinsics.GetIntrinsics();
Intrinsics ci = color_intrinsics.GetIntrinsics();