What is the default configuration in rs2::pipeline start() ?

[ALdlm]

I'm interested in knowing what is the default configuration used when calling start():

// Declare RealSense pipeline, encapsulating the actual device and sensors

rs2::pipeline pipe;

// Start streaming with default recommended configuration

pipe.start();

The reason as to why I want to know this, it is to see if I can optimize the depth quality received from the camera. I'm currently using both D415 and D435 to create point cloud objects and process them with the Point-Cloud Library. This makes it very important for me that the depth data be as precise as possible.

When utilizing the default configuration, I'm left wondering if the left and right IR cameras are being used. Or maybe, I wonder if the resolution is too low. That's why I'm really interested in what is the default configuration I'm using. If there are any advices on how I can improve the quality of depth data received from the camera for my applications, I'd really be thankful if you could share it with me.

Thanks.

[MartyG · Accepted solution]

Intel has an excellent illustrated guide to optimizing the depth tuning on the 400 Series cameras.

https://realsense.intel.com/wp-content/uploads/sites/63/BKM-For-Tuning-D435-and-D415-Cameras-Webinar_Rev3.pdf https://realsense.intel.com/wp-content/uploads/sites/63/BKM-For-Tuning-D435-and-D415-Cameras-Webinar_Rev3.pdf

As for the default config ... I believe that on the default configuration, no filters are set. You can add your own configuration instructions to set up filters if you wish.

https://intelrealsense.github.io/librealsense/doxygen/classrs2_1_1config.html Intel® RealSense™ Cross Platform API: rs2::config Class Reference

[ALdlm]

Thanks for the tuning guide, that definitely responds my optimization worries. Regarding the default configuration, is there a more friendly documentation on how to use "config"?

[MartyG]

I could not locate any further documentation for the config instructions. I found a good method though for researching each instruction in a web search.

1. Start the search term with cfg. (cfg with a full-stop after it)

2. Immediately after that, put the name of one of the config instructions on the documentation link I provided earlier.

For example, to search for examples of usage of enable_record_to_file, search for:

cfg.enable_record_to_file

Another way to set up a specialized configuration for the camera is to use a Visual Preset. You can either select these easily from the 'Presets' drop-down menu near the top of the options side-panel in the RealSense Viewer or call a specific Visual Preset configuration from scripting.

https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets D400 Series Visual Presets · IntelRealSense/librealsense Wiki · GitHub

Going even deeper, you can use the camera's Advanced Mode to define a custom 'JSON' file of configuration settings to load.

https://github.com/IntelRealSense/librealsense/blob/master/doc/rs400/rs400_advanced_mode.md librealsense/rs400_advanced_mode.md at master · IntelRealSense/librealsense · GitHub