diff --git a/lerobot/common/cameras/opencv/camera_opencv.py b/lerobot/common/cameras/opencv/camera_opencv.py
index a74398328..e680982de 100644
--- a/lerobot/common/cameras/opencv/camera_opencv.py
+++ b/lerobot/common/cameras/opencv/camera_opencv.py
@@ -200,16 +200,29 @@ class OpenCVCamera(Camera):
         if not self.is_connected:
             raise DeviceNotConnectedError(f"Cannot configure settings for {self} as it is not connected.")
 
-        self._validate_fps()
-        self._validate_width_and_height()
-
-    def _validate_fps(self) -> None:
-        """Validates and sets the camera's frames per second (FPS)."""
-
         if self.fps is None:
             self.fps = self.videocapture.get(cv2.CAP_PROP_FPS)
             logger.info(f"FPS set to camera default: {self.fps}.")
-            return
+        else:
+            self._validate_fps()
+
+        default_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
+        default_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
+
+        if self.width is None or self.height is None:
+            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
+                self.width, self.height = default_height, default_width
+                self.prerotated_width, self.prerotated_height = default_width, default_height
+            else:
+                self.width, self.height = default_width, default_height
+                self.prerotated_width, self.prerotated_height = default_width, default_height
+            logger.info(f"Capture width set to camera default: {self.width}.")
+            logger.info(f"Capture height set to camera default: {self.height}.")
+        else:
+            self._validate_width_and_height()
+
+    def _validate_fps(self) -> None:
+        """Validates and sets the camera's frames per second (FPS)."""
 
         success = self.videocapture.set(cv2.CAP_PROP_FPS, float(self.fps))
         actual_fps = self.videocapture.get(cv2.CAP_PROP_FPS)
@@ -227,20 +240,6 @@ class OpenCVCamera(Camera):
     def _validate_width_and_height(self) -> None:
         """Validates and sets the camera's frame capture width and height."""
 
-        default_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
-        default_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
-
-        if self.width is None or self.height is None:
-            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
-                self.width, self.height = default_height, default_width
-                self.prerotated_width, self.prerotated_height = default_width, default_height
-            else:
-                self.width, self.height = default_width, default_height
-                self.prerotated_width, self.prerotated_height = default_width, default_height
-            logger.info(f"Capture width set to camera default: {self.width}.")
-            logger.info(f"Capture height set to camera default: {self.height}.")
-            return
-
         success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.prerotated_width))
         actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
         if not success or self.prerotated_width != actual_width:
diff --git a/lerobot/common/cameras/realsense/camera_realsense.py b/lerobot/common/cameras/realsense/camera_realsense.py
index 178b17fda..00bba2d1e 100644
--- a/lerobot/common/cameras/realsense/camera_realsense.py
+++ b/lerobot/common/cameras/realsense/camera_realsense.py
@@ -314,32 +314,12 @@ class RealSenseCamera(Camera):
         if not self.is_connected:
             raise DeviceNotConnectedError(f"Cannot validate settings for {self} as it is not connected.")
 
-        self._validate_fps(self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile())
-        self._validate_width_and_height(self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile())
-
-        if self.use_depth:
-            self._validate_fps(self.rs_profile.get_stream(rs.stream.depth).as_video_stream_profile())
-            self._validate_width_and_height(
-                self.rs_profile.get_stream(rs.stream.depth).as_video_stream_profile()
-            )
-
-    def _validate_fps(self, stream: rs.video_stream_profile) -> None:
-        """Validates and sets the internal FPS based on actual stream FPS."""
-        actual_fps = stream.fps()
-
+        stream = self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile()
         if self.fps is None:
-            self.fps = actual_fps
-            return
+            self.fps = stream.fps()
+        else:
+            self._validate_fps(stream)
 
-        # Use math.isclose for robust float comparison
-        if not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
-            raise RuntimeError(
-                f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps}."
-            )
-        logger.debug(f"FPS set to {actual_fps} for {self}.")
-
-    def _validate_width_and_height(self, stream) -> None:
-        """Validates and sets the internal capture width and height based on actual stream width."""
         actual_width = int(round(stream.width()))
         actual_height = int(round(stream.height()))
 
@@ -352,7 +332,29 @@ class RealSenseCamera(Camera):
                 self.prerotated_width, self.prerotated_height = actual_width, actual_height
             logger.info(f"Capture width set to camera default: {self.width}.")
             logger.info(f"Capture height set to camera default: {self.height}.")
-            return
+        else:
+            self._validate_width_and_height(stream)
+
+        if self.use_depth:
+            stream = self.rs_profile.get_stream(rs.stream.depth).as_video_stream_profile()
+            self._validate_fps(stream)
+            self._validate_width_and_height(stream)
+
+    def _validate_fps(self, stream: rs.video_stream_profile) -> None:
+        """Validates and sets the internal FPS based on actual stream FPS."""
+        actual_fps = stream.fps()
+
+        # Use math.isclose for robust float comparison
+        if not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
+            raise RuntimeError(
+                f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps}."
+            )
+        logger.debug(f"FPS set to {actual_fps} for {self}.")
+
+    def _validate_width_and_height(self, stream) -> None:
+        """Validates and sets the internal capture width and height based on actual stream width."""
+        actual_width = int(round(stream.width()))
+        actual_height = int(round(stream.height()))
 
         if self.prerotated_width != actual_width:
             logger.warning(
diff --git a/tests/cameras/test_realsense.py b/tests/cameras/test_realsense.py
index 6adede768..9f1985642 100644
--- a/tests/cameras/test_realsense.py
+++ b/tests/cameras/test_realsense.py
@@ -154,7 +154,9 @@ def test_async_read_timeout(mock_enable_device):
 
     try:
         with pytest.raises(TimeoutError):
-            camera.async_read(timeout_ms=0)
+            camera.async_read(
+                timeout_ms=0
+            )  # NOTE(Steven): This is flaky as sdometimes we actually get a frame
     finally:
         if camera.is_connected:
             camera.disconnect()