Persistent rs2::invalid_value_error on RealSense D435i with ORB-SLAM3 Across Firmware and SDK Versions

[yq77zs73]

Hello ORB-SLAM3 team,

I have been experiencing a recurring issue with the RealSense D435i camera when running ORB-SLAM3. Initially, I was on the latest firmware and SDK versions but faced an rs2::invalid_value_error related to "option #85".

Steps to reproduce:

1. Started with the latest RealSense D435i firmware and SDK versions. (./Examples/Stereo-Inertial/stereo_inertial_realsense_D435i Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/RealSense_D435i.yaml)
2. Encountered rs2::invalid_value_error in ORB-SLAM3.
3. Downgraded RealSense D435i firmware to version 05.13.00.50 and SDK to 2.50.0 (aligned with November 2021 releases).
4. The same error persists when running ORB-SLAM3.

While the RealSense Viewer functions correctly after downgrading, ORB-SLAM3 continues to throw the same error. Could you please provide any insights or suggestions to resolve this issue?

Best regards,
Jason Shen

[Moynstain]

Hey I've been through this issue recently, according to this link, seems D435i camera meets some specific problems when enabling RS2_OPTION_AUTO_EXPOSURE_LIMIT .
The way I resolved this issue is to comment these two lines and re-build the whole program.
// sensor.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1);
// sensor.set_option(RS2_OPTION_AUTO_EXPOSURE_LIMIT,5000);

hope it works for you :)