The R200's data sheet should be helpful to you.
Page 21 lists the gain and exposure of the R200.
I'm not familiar with RTAB-MAP so cannot give good advice on alternatives. Hopefully other members of this community can help with that. Good luck!
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This has been asked a few times but unfortunately Intel won't share with us the camera settings they use in that app.
However, I've had good results turning the IR Emitter off, setting depth exposure to 1 and depth gain to 1 so that may be a good start for you.