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Coordinate system of Gemini 435Le
Orbbec Gemini 435Le Documentation

Coordinate system of Gemini 435Le

Update on 2025-12-09 08:44:43

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1. Brief Introduction

Gemini 435Le 3D camera usually contains depth camera and color camera and IMU. Those sensors collect information and output it as streams.

In order to characterize the positional relationship better, Orbbec Gemini 435Le define 3D camera coordinate system. The coordinate system of a 3D camera typically contains Depth coordinate system & Color coordinate system & IMU coordinate system.

2. System Cooridnate 

Every coordinates usually consists of three components:

  1. origin: Depth coordinate system's origin locates at the optical center of the Left IR camera lens. Color coordinate system's origin locates at the optical center of the Color camera lens. IMU coordinate system's origin locates 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 to the down. The positive direction of the Z-axis is to the forward.
  3. unit: Default unit is millimeter.

3. Gemini 435Le System Cooridnate 

Gemini 435Le coordinate system reference picture is shown as below.

Picture 3-1 Coordinate system schematic diagram

Coordinate system

 Gemini 435Le
Depth coordinate system

image.png
Color coordinate system

image.png
IMU coordinate system

image.png

The relative position relationship of the coordinate systems origin are as follows.

Table 3-1 Relative position of coordinate systems for Gemini 435Le

Relative Position

X(mm)

Y(mm)

Z(mm)

Origin of Depth coordinate system

0

0

0

Origin of Color

coordinate system

23.75

0

0

Origin of IMU

coordinate system

15.48

0

-55.60

Table 4-8-3 Gemini 435Le Coordinate System Position Reference

Camera

Coordinate System

Position in the 3D camera coordinate system

X（mm）

Y（mm）

Z(mm)

Gemini 435Le

Mounting hole

0

0

0

Depth

-81.41

-20.20

36.01

Color

-57.66

-20.20

36.01

IMU

-65.93

-20.20

-19.59

image.png

image.png

 

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