Orbbec Gemini 330 Series Documentation

Overview

About Orbbec Gemini 330 Series
Quickstarts

Explore Camera Function in Orbbec Viewer

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Build Your First Camera Streaming Application

Gemini 330 Series Quickstart Guide

Gemini 330 Series Quickstart Guide (Overall)

Gemini 330 Series Quickstart Guide (USB)

Gemini 330 Series Quickstart Guide (GMSL)

Gemini 330 Series Quickstart Guide (Ethernet)
Concepts

Stereo 3D Camera

Depth from HDR Imaging

Optical Filters for Stereo Vision 3D Cameras

Depth Quality Metrics

Coordinate Systems

Metadata

Orbbec SDK Architecture
Datasheets

Gemini 330 Series Datasheet (Overall)
How-to Guides

Install Orbbec SDK

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Build Applications

Frame Metadata

Transform Coordinates

Use Depth Post-processing Blocks

Camera Synchronization

Gemini 335Lg Hardware Synchronization

Set up Cameras for External Synchronization

Depth Preset

Use Predefined Depth Presets

Optional Depth Preset Update

Hardware Specifications
Code Samples and Wrappers

C

C Sample Hello Orbbec

C Sample Firmware Update

C Sample Depth Stream Viewer

C Sample Color Stream Viewer

C Sample Infrared Stream Viewer

C Sample Hot Plugin

C Sample Point Cloud

C Sample Align Filter Viewer

C Sample Double Infrared Viewer

C Sample Post Processing

C++

C++ Sample Hello Orbbec

C++ Sample Depth Stream Viewer

C++ Sample Color Stream Viewer

C++ Sample Infrared Stream Viewer

C++ Sample Sync Align Viewer

C++ Sample Firmware Update

C++ Sample Device Control

C++ Sample Multi Stream

C++ Sample Multi Device

C++ Sample Config Depth Work Mode

C++ Sample Hot Plugin

C++ Sample IMU Reader

C++ Sample Multi Device Sync

C++ Sample Point Cloud

C++ Sample Save To Disk

C++ Sample Recorder

C++ Sample Playback

C++ Sample Align Filter Viewer

C++ Sample Depth Unit Control

C++ Sample Double Infrared Viewer

C++ Sample HDR Merge

C++ Sample Post Processing

ROS1 Wrapper

ROS1 Wrapper User Manual

ROS1 Tutorial Depth & Color Alignment

ROS1 Tutorial Visualize Point Cloud

ROS1 Tutorial Start Device Node

ROS1 Tutorial Use Multiple Cameras

ROS2 Wrapper

ROS2 Wrapper User Manual

ROS2 Tutorial Depth & Color Alignment

ROS2 Tutorial Start Device Node

ROS2 Tutorial Use Multiple Cameras

ROS2 Tutorial Visualize Point Cloud
Resources

Camera Interface Selection Guide

Download CAD Files

Depth Preset Release

Firmware Release

Regulatory Compliance and Certificates

Warranties & Terms & Conditions

Gemini 335Lg Recommended FAKRA Connector & Cable Specifications

Download Tools

Supported Hosts and System

Gemini 330 Series Supported Hosts and System Requirements (USB)

Gemini 330 Series Supported Hosts and System Requirements (GMSL)

Orbbec SDK

Download Orbbec SDK

Orbbec SDK Supported Features

Orbbec SDK API

Reference Design

Mounting

Thermal

Power Delivery

Cable (USB)
Links

Resolved Github Issues

Orbbec SDK on Github

Build a New Github Issue

ROS2 Tutorial Depth & Color Alignment

Update on 2025-07-25 09:44:54

This section explains how to align depth images with color images to create an overlay image using ROS 2. This is particularly useful for applications requiring synchronized visual information from different sensor modalities.

1. Commands to Align and View Depth and Color Images

Basic Depth to Color Alignment:To simply align the depth image to the color image, use the following command:
```
ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true
```
This command activates the depth registration feature without opening a viewer.
Viewing Depth to Color Overlay:If you wish to view the depth to color overlay, you need to enable the viewer by using the command below:
```
ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true enable_d2c_viewer:=true
```
This launches the camera node with depth to color registration and opens a viewer to display the overlay image.

2. Select Topics in RViz2

To visualize the aligned images in RViz2:

Launch RViz2 after running one of the above commands.
Select the topic for the depth to color overlay image. An example topic selection is shown here:

3. Example of Depth to Color Overlay

After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here’s what it might look like:

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Overview

Quickstarts

Gemini 330 Series Quickstart Guide

Concepts

Datasheets

How-to Guides

Camera Synchronization

Depth Preset

Code Samples and Wrappers

C

C++

ROS1 Wrapper

ROS2 Wrapper

Resources

Supported Hosts and System

Orbbec SDK

Reference Design

Links

ROS2 Tutorial Depth & Color Alignment

1. Commands to Align and View Depth and Color Images

2. Select Topics in RViz2

3. Example of Depth to Color Overlay

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Overview

Quickstarts

Gemini 330 Series Quickstart Guide

Concepts

Datasheets

How-to Guides

Camera Synchronization

Depth Preset

Code Samples and Wrappers

C

C++

ROS1 Wrapper

ROS2 Wrapper

Resources

Supported Hosts and System

Orbbec SDK

Reference Design

Links

ROS2 Tutorial Depth & Color Alignment

1. Commands to Align and View Depth and Color Images

2. Select Topics in RViz2

3. Example of Depth to Color Overlay

ON THIS PAGE

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alias：

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