GetIntrinsics() bad function call

[crisannik26]

Hello everyone,
I am trying to extrapolate the intrinsic parameters of the colour camera (Format RGB8) and the depth camera (Format Z16).
If I launch the C# application in debug mode everything works correctly, but when I run it without debugging, I get the following error:

Error during initialize procedure. Error: bad function call Exception: System.Runtime.InteropServices.ExternalException (0x80004005): rs2_get_video_stream_intrinsics(from:000002597BE872C8, intr:[ 0x0 p[0 0] f[0 0] None [0 0 0] ])

I am using the .NetFramework 4.8 and C#12.
I am also inserting the code portion:

using (var ctx = new Context())
{
    var devices = ctx.QueryDevices();
    var dev = devices[0];
    _serialId= dev.Info[CameraInfo.SerialNumber];
    _model= dev.Info[CameraInfo.Name];
    var sensors = dev.QuerySensors();
    var depthSensor = sensors[0];
    var colorSensor = sensors[1];

    var depthProfiles = depthSensor.StreamProfiles.Where(p => p.Stream == Stream.Depth).OrderByDescending(p => p.Framerate).Select(p => p.As<VideoStreamProfile>());

    var colorProfiles=colorSensor.StreamProfiles.Where(p => p.Stream == Stream.Color).OrderByDescending(p => p.Framerate).Select(p => p.As<VideoStreamProfile>());

    VideoStreamProfile depthProfile = depthProfiles.FirstOrDefault(p =>p.Width == 1280 && p.Height == 720 && p.Framerate ==30 && p.Format == Format.Z16);

    VideoStreamProfile colorProfile = colorProfiles.FirstOrDefault(c => c.Framerate == 30 && c.Format == Format.Rgb8);

    if (colorProfile != null && depthProfile !=null)
    {    
        Intrinsics intrinsicsColor = colorProfile.GetIntrinsics();
        Intrinsics intrinsicsDepth = depthProfile.GetIntrinsics();
       
    }
}

[MartyG-RealSense]

Hi @crisannik26 The RealSense SDK's official 'C# Cookbook' page of C# example code demonstrates a different way of configuring the stream profile for the purpose of retrieving the intrinsics.

var depth_stream = selection.GetStream<VideoStreamProfile>(Stream.Depth);

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/csharp/Documentation/cookbook.md#get-video-stream-intrinsics

[crisannik26]

Hi @MartyG-RealSense ,
yes I had also read the link you provided. But I don't want to take the data at the start of the pipeline, but at the configuration stage. Actually the code is working in debug but it gives me an error if it is not in debug

[MartyG-RealSense]

My C# programming knowledge is admittedly limited.

In the code section below:

 if (colorProfile != null && depthProfile !=null)
 {    
 Intrinsics intrinsicsColor = colorProfile.GetIntrinsics();
 Intrinsics intrinsicsDepth = depthProfile.GetIntrinsics();      
 }

Does it make a difference when not running in debug mode if you comment out one of the above 'intrinsics' lines so that only one set of intrinsics is retrieved?