If you have problems getting a good quality depth sensing image by conventional means, you could try using a Point Cloud type of depth scan instead.
This link describes how to create one in the old Windows RealSense SDKs such as '2016 R2' and '2016 R3'.
https://software.intel.com/en-us/articles/intel-realsense-technology-and-the-point-cloud Archived - Intel® RealSense™ Technology and the Point Cloud | Intel® Software
Whilst this link discusses point cloud creation in Librealsense.
https://software.intel.com/en-us/articles/using-librealsense-and-pcl-to-create-point-cloud-data Use LibRealSense and Point Cloud Library (PCL) to Create Point Cloud Data | Intel® Software
If you would prefer to control exposure, I recommend this link, which may be your best option with the SR300, since the R200 model is better supported for exposure control.
https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/index.html?setsr300colorexposurepriority_device_pxccapture.html Intel® RealSense™ SDK 2016 R2 Documentation
