Orbbec Gemini 330 Series Documentation

Overview

About Orbbec Gemini 330 Series
Quickstarts

Explore Camera Function in Orbbec Viewer

Build Your First Camera Application

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

Update Firmware

Programming Fundamentals

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

ROS1 Tutorial Start Device Node

Update on 2025-07-25 09:33:45

This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS.

1. Command to Start the Node

To start the camera node, execute the following command in your terminal:

roslaunch orbbec_camera gemini_330_series.launch enable_colored_point_cloud:=true enable_left_ir:=true enable_right_ir:=true

This command initiates the camera node and enables the colored point cloud.

2. Published Topics

Once the camera node is running, it will publish data on several ROS topics. Below is a list of the available topics:

IMU Data and IMU Information:
- camera/accel/imu_info
- camera/gyro/imu_info
- camera/gyro_accel/sample
Color Camera Topics:
- /camera/color/camera_info
- /camera/color/image_raw
- /camera/color/image_raw/compressed
- /camera/color/image_raw/compressedDepth
- /camera/color/image_raw/theora
- /camera/color/metadata
Depth Camera Topics:
- /camera/depth/camera_info
- /camera/depth/image_raw
- /camera/depth/image_raw/compressed
- /camera/depth/image_raw/compressedDepth
- /camera/depth/image_raw/theora
- /camera/depth/metadata
- /camera/depth/points
- /camera/depth_filter_status
- /camera/depth_registered/points
- /camera/depth_to_color
- /camera/depth_to_left_ir
- /camera/depth_to_right_ir
Infrared Camera Topics:
- /camera/left_ir/camera_info
- /camera/left_ir/image_raw
- /camera/left_ir/image_raw/compressed
- /camera/left_ir/image_raw/compressedDepth
- /camera/left_ir/image_raw/theora
- /camera/left_ir/metadata
- /camera/right_ir/camera_info
- /camera/right_ir/image_raw
- /camera/right_ir/image_raw/compressed
- /camera/right_ir/image_raw/compressedDepth
- /camera/right_ir/image_raw/theora
- /camera/right_ir/metadata
Miscellaneous Topics:
- /diagnostics
- /parameter_events
- /rosout
- /rosout_agg

3. Visualize Data in RViz

To view the PointCloud or Image data, use RViz:

Launch RViz.
Select the topic you wish to visualize from the list of published topics.
Add the selected topic to RViz to start viewing the data.

4. Visualization Examples

Here are examples of how the visualization might appear in RViz:

PointCloud Visualization
Image Data Visualization

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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

ROS1 Tutorial Start Device Node

1. Command to Start the Node

2. Published Topics

3. Visualize Data in RViz

4. Visualization Examples

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