diff --git a/src/devices/realsense2/realsense2Driver.cpp b/src/devices/realsense2/realsense2Driver.cpp
index a3f0518..84723c5 100644
--- a/src/devices/realsense2/realsense2Driver.cpp
+++ b/src/devices/realsense2/realsense2Driver.cpp
@@ -8,6 +8,7 @@
 
 #include <cmath>
 #include <algorithm>
+#include <string>
 #include <iomanip>
 #include <cstdint>
 
@@ -588,6 +589,13 @@ bool realsense2Driver::initializeRealsenseDevice()
     }
     if (!pipelineStartup())
         return false;
+
+    if (m_usePreset)
+    {
+        if(!setPreset(m_presetName))
+            yCError(REALSENSE2) << "Unable to set preset: "<< m_presetName;
+    }
+
     m_initialized = true;
 
     //TODO: if more are connected?!
@@ -835,6 +843,27 @@ bool realsense2Driver::open(Searchable& config)
         m_stereoMode = config.find("stereoMode").asBool();
     }
 
+    if (config.check("usePreset")) {
+        m_usePreset = config.find("usePreset").asBool();
+        yCInfo(REALSENSE2) << "Enabled Using Presets";
+    }
+    else
+        yCInfo(REALSENSE2) << "Presets disabled";
+
+    if (m_usePreset)
+    {
+        std::string presetName = config.find("presetName").asString();
+        std::transform(presetName.begin(), presetName.end(), presetName.begin(), ::toupper);
+        if (presetsMap.find(presetName) == presetsMap.end()) {
+            yCError(REALSENSE2) <<  "Value " << presetName << " not allowed as camera preset, see documentation for supported values.";
+        }
+        else
+        {
+            m_presetName = presetsMap.at(presetName);
+            yCInfo(REALSENSE2) << "Found requested preset: " << presetName;
+        }
+    }
+
     if (!m_paramParser.parseParam(config, params))
     {
         yCError(REALSENSE2) << "Failed to parse the parameters";
@@ -1679,3 +1708,19 @@ int  realsense2Driver::width() const
 {
     return m_infrared_intrin.width*2;
 }
+
+bool realsense2Driver::setPreset(rs2_rs400_visual_preset preset)
+{
+    try
+    {
+        auto sensor = m_profile.get_device().first<rs2::depth_sensor>();
+        sensor.set_option(rs2_option::RS2_OPTION_VISUAL_PRESET, 
+                            preset);
+    }
+    catch(const std::exception& e)
+    {
+        yCError(REALSENSE2) << "Error while setting preset: " << e.what();
+        return false;
+    }
+    return true;
+}
diff --git a/src/devices/realsense2/realsense2Driver.h b/src/devices/realsense2/realsense2Driver.h
index 32d0d15..bfa2f1d 100644
--- a/src/devices/realsense2/realsense2Driver.h
+++ b/src/devices/realsense2/realsense2Driver.h
@@ -24,6 +24,7 @@
 #include <yarp/dev/IRGBDSensor.h>
 #include <yarp/dev/RGBDSensorParamParser.h>
 #include <librealsense2/rs.hpp>
+#include <librealsense2/rs_advanced_mode.hpp>
 
 
 class realsense2Driver :
@@ -37,7 +38,15 @@ class realsense2Driver :
     typedef yarp::os::Stamp                           Stamp;
     typedef yarp::os::Property                        Property;
     typedef yarp::sig::FlexImage                      FlexImage;
-
+    const std::map<std::string, rs2_rs400_visual_preset>    presetsMap{
+        {"CUSTOM",              rs2_rs400_visual_preset::RS2_RS400_VISUAL_PRESET_CUSTOM},
+        {"DEFAULT",             rs2_rs400_visual_preset::RS2_RS400_VISUAL_PRESET_DEFAULT},
+        {"HAND",                rs2_rs400_visual_preset::RS2_RS400_VISUAL_PRESET_HAND},
+        {"HIGH_ACCURACY",       rs2_rs400_visual_preset::RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY},
+        {"PRESET_HIGH_DENSITY", rs2_rs400_visual_preset::RS2_RS400_VISUAL_PRESET_HIGH_DENSITY},
+        {"MEDIUM_DENSITY",      rs2_rs400_visual_preset::RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY},
+        {"REMOVE_IR_PATTERN",   rs2_rs400_visual_preset::RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN}
+    };
 
 public:
     realsense2Driver();
@@ -116,6 +125,7 @@ class realsense2Driver :
     bool        pipelineRestart();
     bool        setFramerate(const int _fps);
     void        fallback();
+    bool        setPreset(rs2_rs400_visual_preset preset);
 
 
     // realsense classes
@@ -149,5 +159,7 @@ class realsense2Driver :
     float m_scale;
     bool m_rotateImage180{false};
     std::vector<cameraFeature_id_t> m_supportedFeatures;
+    bool m_usePreset{false};
+    rs2_rs400_visual_preset m_presetName;
 };
 #endif