How to get Aligned-to-Color depth Frame's intrinsic parameters with Matlab wrapper?

[kazu0622]

| Camera Model | {D400 } |
| Firmware Version | 05.10.06.00 |
| Operating System & Version | {Win 10) |
| Platform | PC|
| SDK Version | 2.20.0 |
| Language | Matlab |
| Segment | others |

Hello.
I'd like to have some suggestions how to get depth frame's intrinsic parameters ,that is alinged to Color frame with matlab wrapper.

I've already checked this issue below on python.
#3688

Here is my script. I guess there're some mistake.
cfg = realsense.config();
cfg.enable_stream(realsense.stream.depth,1280,720,realsense.format.z16);
cfg.enable_stream(realsense.stream.color,1280,720,realsense.format.rgb8);
pipe = realsense.pipeline();
profile = pipe.start(cfg);
align_to_color = realsense.stream.color;
depth_stream = profile.get_stream(realsense.stream.depth);
depth_stream = depth_stream.as('video_stream_profile');
intrinsics1 = depth_stream.get_intrinsics();
% I guess this might be the original intrinsics before aligned.%

fs = pipe.wait_for_frames();
align = realsense.align(align_to_color);
aligned_frames = align.process(fs);
depth_tmp = aligned_frames.get_depth_frame();

Thanks.

[ev-mp]

Hello @kazu0622 ,
You can use the intrinsic of the stream to which the depth is aligned to - e.g. color in the above snippet:

color_stream = profile.get_stream(realsense.stream.color);
color_video_stream = rgb_stream .as('video_stream_profile');
color_intrinsic=depth_aligned_to_color_intrinsic = color_video_stream.get_intrinsic()

Note that you should also be able to get intrinsic directly from the "aligned_depth" frame in a similar manner (frame->frame_profile->video_frame_profile->get_intrinsic), but I don't have the Matlab environment to provide a reference code.

[kazu0622]

@ev-mp Thank you for your quick response and your information about my issue. I'll try it.