Get color camera intrinsic parameters using Java API on Android for D435i

Yixun Liu

April 22, 2021 13:11

Hi,

I am developing an app on Android using RealSense SDK2 with Java API.

I need to get color camera intrinsic parameter. I have two questions:

1. Do I have to get the intrinsic parameter after starting pipeline with call: pipeline.start()?

2. For Java API, I can get the PipelineProfile:

PipelineProfile pp = mPipeline.start(config)

But I cannot continue as the How-To:

https://dev.intelrealsense.com/docs/api-how-to

because I can not call pp.getStream()

Thanks a lot!

Yixun

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MartyX Grover

April 22, 2021 14:21

Edited
Hi Yixun Liu The librealsense Android wrapper includes support for intrinsics and extrinsics, though there are limited references available on this particular subject that do not cover your questions above. Of the information that is available, details can be found in the links below.

https://github.com/IntelRealSense/librealsense/pull/6594

https://github.com/IntelRealSense/librealsense/issues/5766#issuecomment-678052140

Alternatively, a RealSense user in the link below took the approach of storing intrinsics and extrinsics using C++ Native code in their Android application.

https://github.com/IntelRealSense/librealsense/issues/6522#issuecomment-639152764
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