How to get the intrinsic parameters with the Python wrapper?

[felix-tracxpoint]

Required Info
Camera Model	D400
Firmware Version	SDK 2.0
Operating System & Version	Windows 10
Kernel Version (Linux Only)

I presume it's something obvious I had overlooked.

[dorodnic]

Hi @felix-tracxpoint
Unfortunately, it is not as obvious as we would like:

cfg = pipeline.start() # Start pipeline and get the configuration it found
profile = cfg.get_stream(rs.stream.depth) # Fetch stream profile for depth stream
intr = profile.as_video_stream_profile().get_intrinsics() # Downcast to video_stream_profile and fetch intrinsics
print intr.ppx

We are trying to keep the SDK open to non-video extensions in the future, that's why a downcast (to video_stream_profile) is required before you can fetch the intrinsics.

[felix-tracxpoint]

Thanks, this is very helpful!

[erikcummins]

Has this been improved since this issue was created? Or do we still need to start a pipeline to retrieve the intrinsics from the camera?

[lramati]

you no longer need to create a pipeline. You can query devices from a context object and then query it's sensors, or just query all available sensors directly from the context object. From here you can grab a list of all supported stream profiles, and use the same logic as above to get the intrinsics for each