RealSense Configuration

Note

The RealSense presets are only available for camera firmware version 5.12.14.50 and above. See how to update the firmware under the Unsupported D435i/D455 camera firmware section of our Troubleshooting page.

The default RealSense configuration file is installed under the /usr/share/slamcore/presets/depth_preset.json path. The following parameters can be used to change the configuration of the RealSense sensor stream. You may use this when recording sequences or when running live.

Parameters	Default Value	Type
Base.Readers.Property.AutoExposureLimit	8000	Float
Base.Readers.Property.DepthPreset	"default"	String

• AutoExposureLimit

  • Type: Float

  • Default: 8000

  • Description: Specifies the auto-exposure limit in microseconds. Change this to reduce IR bleed (projection of IR pattern on the image see troubleshooting). A useful range for 60 Hz interleaved mode is 1000-8000 μs.

• DepthPreset

  • Type: String

  • Default: "high_accuracy"

  • Description: Changes the RealSense depth preset. See RealSense’s User Guide for details on the depth presets.

  • Options:

    • "default" (Default)

      This is the default RealSense depth setting.

    • "high_accuracy"

      High confidence threshold value of depth, producing a more accurate depth map but with lower fill factor. As such, the depth map may be less complete at areas of low confidence.