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Coordinate Systems
Orbbec Gemini 330 Series Documentation

Coordinate Systems

Update on 2025-06-19 07:56:13

1. Brief Introduction

Gemini 330 series 3D camera usually contains depth camera, color camera, and IMU. Those sensors collect information and output it as streams.

In order to characterize the positional relationship better, the Orbbec Gemini 330 series define 3D camera coordinate system. The coordinate system of a 3D camera typically contains the Depth coordinate system & the Color coordinate system & the IMU coordinate system.

2. System Coordinate

Every coordinate usually consists of three components:

  1. Origin: The Depth coordinate system’s origin is located at the optical center of the Left IR camera lens.  The color coordinate system’s origin is located at the optical center of the Color camera lens. The IMU coordinate system’s origin is located at the physical center of the IMU.
  2. Category: meeting the definition of right-hand coordinate system. The positive direction of the X-axis is to the right. The positive direction of the Y-axis is down. The positive direction of the Z-axis is forward. The X, Y, and Z axes are red, green, and blue, respectively.

Picture 1: Right-hand coordinate system

  1. Unit: The Default unit is millimeters.

3. Gemini 330 Series System Coordinate

Gemini 330 series coordinate system reference picture is shown below.

Picture 2: Coordinate system schematic diagram

The relative position relationship of the coordinate systems' origins is as follows.

Table 1: Relative position of coordinate systems for Gemini 335/336

Relative position X(mm) Y(mm) Z(mm)
Origin of the Depth coordinate system 0 0 0
Origin of the Color coordinate system 14.00 0 2.02
Origin of the IMU coordinate system -0.246 -0.065 -16.948

Table 2: Relative position of coordinate systems for Gemini 335L/336L

Relative position X(mm) Y(mm) Z(mm)
Origin of the Depth coordinate system 0 0 0
Origin of the Color coordinate system 23.75 0 0
Origin of the IMU coordinate system 7.866 1.068 -14.248

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