The 400 Series cameras have a new advanced chip called the Vision Processor D4. It is possible that the D4 is using its algorithms to improve image quality.
"The Intel® RealSense™ Vision Processor D4 Series does the heavy lifting for you. It uses advanced algorithms to process raw image streams from the depth cameras and computes high resolution 3D depth maps without the need for dedicated GPU or host processor."
In outdoor conditions, if it is too dark or too bright then you may get better results by turning off the camera's IR emitter component with scripting. The IR emitter assists the IR sensor with exposure but can cause the sensor to become saturated under dim or bright lighting conditions.
rs2::pipeline_profile selection = pipe.start();
rs2::device selected_device = selection.get_device();
auto depth_sensor = selected_device.first<rs2::depth_sensor>();
depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 1.f); // Enable emitter
depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 0.f); // Disable emitter
// Query min and max values:
auto range = depth_sensor.get_option_range(RS2_OPTION_LASER_POWER);
depth_sensor.set_option(RS2_OPTION_LASER_POWER, range.max); // Set max power
depth_sensor.set_option(RS2_OPTION_LASER_POWER, 0.f); // Disable laser
If you are using the RealSense Viewer tool, you may also be interested to know that you can change the default visual processing settings to better suit your use of the camera.
If you want to get separate left and right images, my understanding is that it is very difficult due to how RealSense calculates depth. I remembered that someone did work out a method though.