Documentation Index
Fetch the complete documentation index at: https://docs.neuronav.io/llms.txt
Use this file to discover all available pages before exploring further.
The SDK supports popular depth cameras out of the box, with automatic driver management and topic remapping.
Sensor Comparison
| Feature | RealSense D435i | RealSense D455 | RealSense D415 | OAK-D Pro | OAK-D Pro W |
|---|
| Price | ~$350 | ~$450 | ~$300 | ~$400 | ~$500 |
| Range | 0.2-10m | 0.4-20m | 0.3-10m | 0.2-15m | 0.2-20m |
| FOV | 87°×58° | 87°×58° | 69°×42° | 80°×55° | 150°×100° |
| IMU | Yes | Yes | No | Yes | Yes |
| Best For | Indoor robots | Outdoor/long range | Precision scanning | AI applications | Outdoor AI |
| Global Shutter | No | Yes | No | No | No |
Intel RealSense
The most popular choice for SLAM applications. Three models supported:
Best for general indoor robotics.
from neuronav import RealSenseSensor, SensorConfig
# Basic usage - auto-detects camera
sensor = RealSenseSensor()
# Optimized for navigation
config = SensorConfig(
rgb_width=848, # D435's optimal width
rgb_height=480,
fps=30,
enable_imu=True, # Use built-in IMU
custom_params={
"laser_power": "150", # Balance range/power
"temporal_filter": "true"
}
)
sensor = RealSenseSensor(config)
# Multiple cameras
sensor1 = RealSenseSensor(SensorConfig(device_id="123456"))
sensor2 = RealSenseSensor(SensorConfig(device_id="789012"))
D455 - Extended Range
Best for outdoor and large spaces.
# Outdoor configuration
outdoor_config = SensorConfig(
rgb_width=1280,
rgb_height=720,
fps=30,
custom_params={
"laser_power": "360", # Maximum for sunlight
"exposure": "auto"
}
)
D415 - High Accuracy
Best for 3D scanning and close-range work.
# Precision scanning
scan_config = SensorConfig(
rgb_width=1920,
rgb_height=1080,
fps=15, # Lower FPS for quality
custom_params={
"depth_confidence": "1" # Higher accuracy
}
)
OAK-D Pro
Luxonis OAK-D Pro and Pro W with on-device AI.
from neuronav import OAKDSensor, SensorConfig
# Basic usage
sensor = OAKDSensor()
# With configuration
config = SensorConfig(
rgb_width=1280,
rgb_height=720,
fps=30
)
sensor = OAKDSensor(config)
Configuration Options
@dataclass
class SensorConfig:
device_id: Optional[str] = None # Camera serial number
rgb_width: int = 640 # RGB resolution
rgb_height: int = 480
depth_width: int = 640 # Depth resolution
depth_height: int = 480
fps: int = 30 # Frame rate
enable_imu: bool = True # Use IMU if available
enable_ir: bool = False # IR projector
custom_params: Dict = None # Sensor-specific params
Common Settings
Fast Navigation
config = SensorConfig(rgb_width=640, rgb_height=480, fps=60)
High Quality
config = SensorConfig(rgb_width=1920, rgb_height=1080, fps=30)
Low Power
config = SensorConfig(rgb_width=640, rgb_height=480, fps=15)
