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The SDK supports popular depth cameras out of the box, with automatic driver management and topic remapping.

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Sensor Comparison

FeatureRealSense D435iRealSense D455RealSense D415OAK-D ProOAK-D Pro W
Price~$350~$450~$300~$400~$500
Range0.2-10m0.4-20m0.3-10m0.2-15m0.2-20m
FOV87°×58°87°×58°69°×42°80°×55°150°×100°
IMUYesYesNoYesYes
Best ForIndoor robotsOutdoor/long rangePrecision scanningAI applicationsOutdoor AI
Global ShutterNoYesNoNoNo

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Intel RealSense

The most popular choice for SLAM applications. Three models supported:

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D435i - Balanced Performance

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"))

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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"
    }
)

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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
    }
)

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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)

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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

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Common Settings

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Fast Navigation

config = SensorConfig(rgb_width=640, rgb_height=480, fps=60)

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High Quality

config = SensorConfig(rgb_width=1920, rgb_height=1080, fps=30)

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Low Power

config = SensorConfig(rgb_width=640, rgb_height=480, fps=15)