Private member variable in Intrinsic class in Android Wrapper

[YichaoW]

Hi,

I noticed that all member variables in intrinsic class are private and they don't have getter except for width and height. Is there any other way to get intrinsic value such as ppx and ppy?

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Intrinsic.java

[MartyG-RealSense]

Hi @YichaoW There is a very long and detailed discussion about reading instrinsics in the link below, so I will link to the part of the discussion that I think may be of particular interest to you, as it discusses printing the value of ppx and ppy in the Android log. You can of course return to the start and go through the entire discussion.

#6522 (comment)

[YichaoW]

Thanks @MartyG-RealSense ! Is there any java solution? I am not very familiar with C++ and the NDK wrapper.

[MartyG-RealSense]

Hi again @YichaoW Intrinsics and extrinsics were added to the Android wrapper in SDK 2.37.0.

#4580
#6915

[YichaoW]

@MartyG-RealSense I knew they were added. But the variables stored in Intrinsics are private and I cannot access them.

[MartyG-RealSense]

A "pull" was submitted a week ago to add intrinsic private property getters to the Android wrapper. The submission has passed build checks but it looks as though it is not merged into the SDK yet.

#7342

[YichaoW]

Got it thanks

[electro-logic]

Hello,
I can't get a StreamProfiles of type VideoStreamProfile using v2.50 on Android 9.

        var sensors = device.QuerySensors();
        foreach (var sensor in sensors)
        {                
            foreach (var sp in sensor.StreamProfiles)
            {
                // sp can't cast to VideoStreamProfile 
            }
        }

I am trying to get the intrinsic.

[MartyG-RealSense]

Hi @electro-logic There are very few references about obtaining intrinsics in Android, unfortunately.

A RealSense user at #6522 (comment) took the approach of storing intrinsics and extrinsics using C++ Native code in their Android application.

[electro-logic]

Any chance to get a Java compatible API?

[MartyG-RealSense]

There is not an official Java wrapper or plans to create one, but a RealSense user created an unofficial Java wrapper several years ago.

https://github.com/edwinRNDR/librealsense/tree/master/wrappers/java

[electro-logic]

Hello, I'm on Android and I'm using the official library binding with Java, but I can't access the Intrinsic api

[MartyG-RealSense]

#6594 states that the API instruction for accessing intrinsics on Android is rs2_get_video_stream_intrinsics

[electro-logic]

Hello,
From my understanding (

librealsense/src/android/jni/stream_profile.cpp

Line 151 in b874e42

rs2_get_video_stream_intrinsics(reinterpret_cast<const rs2_stream_profile *>(handle), &intr, &e);

) the API rs2_get_video_stream_intrinsics is not directly exposed, but can be used by calling GetIntrinsic() on a VideoStreamProfile instance. The problem I'm facing is that there is no way to get that instance (see my first post).

[MartyG-RealSense]

I will tag @remibettan into this discussion in case they can provide insight about your problem described at #7386 (comment)