Reading device intrinsics fails...

[drhalftone]

I don't know if anyone else is using the C library, but I've written a simple Qt widget that tries to connect to an Orbbec device and read its intrinsics, and I'm not having any luck. I can't exactly find any examples in C. So maybe someone else has gotten this to work. Here is my code. Am I doing it in the wrong order? Should I be using a different Profile?

`
// INITIALIZE STRUCTURE POINTERS
ob_context *context = NULL;
ob_pipeline *pipeline = NULL;
ob_stream_profile *depthProfile = NULL;
ob_stream_profile *colorProfile = NULL;
ob_stream_profile_list *depthProfiles = NULL;
ob_stream_profile_list *colorProfiles = NULL;

// CREATE ERROR OBJECT
ob_error *error = NULL;

// create context
context = ob_create_context(&error);
if (error){
    qDebug() << QString("Error creating context: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

// GET A LIST OF DEVICES
ob_device_list *deviceList = ob_query_device_list(context, &error);
if (error){
    qDebug() << QString("Error getting device list: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

uint32_t numDevices = ob_device_list_device_count(deviceList, &error);
if (error){
    qDebug() << QString("Error getting number of devices: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

ob_device *device = NULL;
if (numDevices == 0){
    qDebug() << QString("No devices found!");
    return;
}

device = ob_device_list_get_device(deviceList, 0, &error);
if (error){
    qDebug() << QString("Error creating USB device: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

// Create a pipeline to open the depth stream after connecting the device
pipeline = ob_create_pipeline_with_device(device, &error);
if (error){
    qDebug() << QString("Error creating pipeline with device: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

// Create config to configure the resolution, frame rate, and format of the depth stream
ob_config *config = ob_create_config(&error);
if (error){
    qDebug() << QString("Error creating configuration: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

// CREATE THE DEPTH PROFILE
depthProfile = ob_create_video_stream_profile(OB_STREAM_DEPTH, OB_FORMAT_Y16, 800, 600, 30.0, &error);
if (error) {
    qDebug() << QString("Error creating depth profile: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

ob_camera_intrinsic intrinsics = ob_video_stream_profile_get_intrinsic(depthProfile, &error);
if (error) {
    qDebug() << QString("Error getting depth profile intrinsics: %1").arg(error->message);
    ob_delete_error(error);
    error = NULL;
}

`

[zhonghong322]

@drhalftone

ob_stream_profile_list *stream_profile_list = ob_pipeline_get_stream_profile_list(pipeline, OB_SENSOR_DEPTH, &error);

depthProfile = ob_stream_profile_list_get_video_stream_profile(stream_profile_list, 800, 600, OB_FORMAT_Y16, 30, &error);

ob_config_enable_stream(config, OB_STREAM_DEPTH, &error);

ob_camera_intrinsic intrinsics = ob_video_stream_profile_get_intrinsic(depthProfile, &error);
if(error) {
    ob_delete_error(error);
    error = NULL;
}
printf("fx:fy:cx:cy: %f %f %f %f\n", intrinsics.fx, intrinsics.fy, intrinsics.cx, intrinsics.cy);

[zhonghong322]

Or getthe stream_profile through the sensor, and then retrieve the intrinsic parameters.

ob_sensor_list *sensor_list = ob_device_get_sensor_list(device, &error);
if(error) {
ob_delete_error(error);
error = NULL;
}

 ob_sensor *sensor = ob_sensor_list_get_sensor_by_type(sensor_list, OB_SENSOR_DEPTH, &error);

 if(error) {
     ob_delete_error(error);
     error = NULL;
 }

 ob_stream_profile_list *stream_profile_list = ob_sensor_get_stream_profile_list(sensor, &error);
 if(error) {
     ob_delete_error(error);
     error = NULL;
 }

 depthProfile = ob_stream_profile_list_get_video_stream_profile(stream_profile_list, 800, 600, OB_FORMAT_Y16, 30, &error);

 ob_camera_intrinsic intrinsics = ob_video_stream_profile_get_intrinsic(depthProfile, &error);
 if(error) {
     ob_delete_error(error);
     error = NULL;
 }
 printf("fx:fy:cx:cy: %f %f %f %f\n", intrinsics.fx, intrinsics.fy, intrinsics.cx, intrinsics.cy);