Setting exposure fails with D405

[DaveBGld]

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Required Info
Camera Model	D405
Firmware Version	5.15.0.2
Operating System & Version	Ubuntu20.04
Kernel Version (Linux Only)	5.15.0-76-generic
Platform	PC
SDK Version	latest built from code2.54.1.0
Language	{C++ }
Segment	{Robot}

Issue Description

I have code developed for the D435i, where control of exposure is important to improve the performance of the Machine Learning Vision Pipeline.

First Problem Auto exposure fails:

auto colorSensor = profile.get_device().query_sensors()[1];
colorSensor.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1);

Throws a exception at VALIDATE_OPTION(options, option); inside rs2_set_option

Second Problem, Manual exposure is ignored:

int exposureValue = 450;
auto depthSensor = profile.get_device().query_sensors()[0];
depthSensor.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 0);
auto colorSensor = profile.get_device().query_sensors()[1];
colorSensor.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 0);
colorSensor.set_option(RS2_OPTION_EXPOSURE, exposureValue);

It doesn't matter what value I give the exposure, the color image is too dark, even at maximum 10000, and also sometimes throws the same exception as above.

Thanks for the help!

[MartyG-RealSense]

Hi @DaveBGld As mentioned in your other question at https://github.com/IntelRealSense/librealsense/issues/11982 the D405 does not have an RGB sensor component and obtains RGB from the depth sensor. There is therefore no exposure control for an RGB sensor. The RGB exposure is set by changing the depth sensor exposure. The depth sensor index is '0' instead of '1'.

Increasing the depth exposure value (which has a default value of '33000') brightens the RGB image and reducing the value darkens it. You can test this in the RealSense Viewer by enabling both the depth and color streams and changing the exposure value under the Stereo Module > Controls section of the options side-panel.

[DaveBGld]

@MartyG-RealSense Thanks !