Which parameters are used if we get "JSON file is not provided" warning?
I'm using a D405 camera with ROS2, and when I launch a realsense camera node without specifying the json file path, I get the warning "JSON file is not provided". However, the node launches successfully and I can still stream camera data.
When a JSON file is not provided, what parameters are used by the camera? I'd like to figure out what our settings were during trials where the JSON file was not provided.
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Hi Toni Divic This warning is not something to be concerned about. A RealSense ROS wrapper launch is able to apply custom presets for some camera settings from a json file if a path to the json file is defined in the launch. If a json file is not provided then the default values of the settings or the values defined in the launch file will be used instead.
Some pre-made downloadable json preset files are provided at the link below.
https://dev.intelrealsense.com/docs/d400-series-visual-presets
If you are using a ROS2 launch then you are likely using the rs_launch.py launch file and can view its contents here:
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Do you know what the Default settings are designed to optimize for? They don't seem to match HighAccuracy, HighDensity, or MediumDensity presets. I'm trying to determine debug some performance issues we've seen and am curious how the Default settings we've been (unintentionally) using have been affecting us.
Additionally, is there a document where all the parameters are described in more detail?
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Each preset has a different balance of settings that prioritizes a particular effect on the image, such as higher accuracy but more holes on the depth image, or cleaner edges. The Preset Table summarizes the characteristics of each pre-made preset.
https://dev.intelrealsense.com/docs/d400-series-visual-presets#preset-tableThe preset named Default does not correspond to the default values for the particular RealSense camera model being used. As mentioned above, you can find the default value for a particular setting by looking at that setting in the RealSense Viewer's options side-panel after launching the Viewer and not changing the preset selection.
There is not a single document that describes all settings. There are a large range of official RealSense 'white paper' guides at the link below.
https://dev.intelrealsense.com/docs/whitepapersIf you are new to RealSense cameras then the camera tuning guide is an excellent place to start.
https://dev.intelrealsense.com/docs/tuning-depth-cameras-for-best-performanceThere is also a large range of videos at the official RealSense YouTube channel.
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