> ## 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.

# Supported Sensors

> Compare and configure Intel RealSense and OAK-D Pro depth cameras for SLAM

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:

### D435i - Balanced Performance

Best for general indoor robotics.

```python theme={null}
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.

```python theme={null}
# 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.

```python theme={null}
# 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.

```python theme={null}
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

```python theme={null}
@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

```python theme={null}
config = SensorConfig(rgb_width=640, rgb_height=480, fps=60)
```

### High Quality

```python theme={null}
config = SensorConfig(rgb_width=1920, rgb_height=1080, fps=30)
```

### Low Power

```python theme={null}
config = SensorConfig(rgb_width=640, rgb_height=480, fps=15)
```