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en/_sources/source/camera_devices/1_overview/introduction.md.txt
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@@ -18,6 +18,12 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
</tr>
</thead>
<tbody>
<tr>
<td rowspan="1" style="text-align: center; font-weight: bold;">Gemini 305</td>
<td>Gemini 305</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 340</td>
<td>Gemini 345</td>
@@ -174,6 +180,7 @@ To learn how to obtain and upgrade the latest firmware, [please click here](../3
| **Products List** | **Recommended FW Version** | Launch File |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------- |
| Gemini 305 | [1.0.30](https://doc.orbbec.com/documentation/Gemini%20305%20Series%20Documentation/Firmware%20Release%20of%20Gemini%20305) | gemini305.launch.py |
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
| Gemini 435Le | [1.3.6](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
@@ -226,6 +233,16 @@ thead th {
</tr>
</thead>
<tbody>
<tr>
<td style="text-align: center;">Gemini 305</td>
<td>Gemini 305</td>
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Orbbec_Gemini%20305%20Datasheet%20V1.0_20260105.pdf">Orbbec Gemini 305 Datasheet</a></td>
</tr>
<tr>
<td style="text-align: center;">Gemini 345Lg</td>
<td>Gemini 345Lg</td>
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2026/01/05091746/Gemini-345Lg-Datasheet-V2.0.pdf">Orbbec Gemini 345Lg Datasheet</a></td>
</tr>
<tr>
<td style="text-align: center;">Gemini 435Le</td>
<td>Gemini 435Le</td>
en/_sources/source/camera_devices/4_application_guide/services.md.txt
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'
```
### Data Capture & Calibration Management
### Data Capture
* `/camera/save_images`
```bash
@@ -229,7 +229,9 @@
ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
```
> **Note**: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.
#### Device-Specific
**Gemini 435Le**
* `/camera/write_customer_data` & `/camera/read_customer_data`
```bash
@@ -257,6 +259,18 @@
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
```
**Gemini 305**
* `/camera/set_ae_mode`
```bash
# depthbased or colorbased
ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased"
```
* `/camera/set_sports_mode`
```bash
ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true"
```
### Point cloud decimation
* `/camera/set_point_cloud_decimation`
```bash
en/_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt
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## Aligning Depth to Color in ROS 2
## Aligning Depth to Color
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.
en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
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# Predefined presets
#Device default
| Preset | Features | Recommended use cases |
| -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Default | - Best visual perception``- Overall good performance in accuracy, fill rate, tiny objects, etc. | - Generic `<br>`- Robotics |
| Hand | - Clear hand and finger edges | - Gesture recognition |
| High Accuracy | - Depth of high confidence `<br>`- Barely noise depth values `<br>`- Lower fill rate | - Collision avoidance `<br>`- Object scanning |
| High Density | - Higher fill rate `<br>`- More tiny objects `<br>`- May suffer from noise depth values | - Object recognition `<br>`- Pick & place `<br>`- Foreground & background animation |
| Medium Density | - Balanced performance in fill rate and accuracy `<br>`- In comparison to Default: lower fill rate, better edge quality | - Generic and alternative to Default |
| Custom | - User defined Preset `<br>`- Derived from Presets above, with customized modifications `<br>`- e.g. a new configuration for the post-processing pipeline, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets `<br>`- For well-established custom configurations |
This document lists available presets, features, and recommended scenarios by product. Please select a preset name that matches the product model and set it as the value of the `device_preset` parameter.
Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset`
parameter.
## Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L
| Defaults | Features | Recommended usage scenarios |
| --- | --- | --- |
| Default | Best visual effect<br> Overall performance is good, including typical indicators such as accuracy, filling rate, small object detection capability | General scenarios<br> Robot application |
| Hand | Clear hand and finger edges | Gesture recognition |
| High Accuracy | Highly reliable depth information<br> Very little depth noise<br> Relatively low depth fill rate | Obstacle avoidance<br> Object scanning |
| High Density | Higher depth filling rate<br> Can detect more small objects<br> More susceptible to depth noise | Object recognition<br> Grabbing<br> Foreground or background processing, such as cutout, etc. |
| Medium Density | Balanced depth fill rate and precision performance<br> Compared with default settings: relatively low fill rate, better edge quality | Universal scene, alternative to Default |
| Custom | Custom modifications, such as new configurations of post-processing pipelines, modifications to depth AE functions | By adjusting the depth configuration yourself, you can achieve better results than the predefined depth preset configuration<br> Fully proven customized depth configuration |
## Gemini 336 / Gemini 336L
| Defaults | Features |
| --- | --- |
| Default | The best visual effect<br> The overall performance is good, including typical indicators such as accuracy, filling rate, and small object detection capabilities |
| High Accuracy | Highly reliable depth information<br> Very little depth noise<br> Relatively low depth fill rate |
| Custom | Custom modifications, such as new configurations of post-processing pipelines and modifications to deep AE functions |
## Gemini 2
| Defaults | Features |
| --- | --- |
| Unbinned Dense Default | Depth Quality Priority |
| Binned Sparse Default | Small dead zone, low power consumption, high frame rate |
| Obstacle Avoidance | Robot obstacle avoidance mode |
## Gemini 2L
| Defaults | Features |
| --- | --- |
| Unbinned Dense Default | Depth Quality Priority |
| Dimensioning | Measurement accuracy is priority |
| Binned Sparse Default | Small dead zone, low power consumption, high frame rate |
| Unbinned Sparse Default | Balance quality and power consumption, improve low-reflection and semi-outdoor effects |
## Gemini 305
| Defaults | Features |
| --- | --- |
| Default | Best visual perception<br> Good overall performance in terms of accuracy, filling rate, small objects, etc. |
| High Accuracy | High confidence depth values<br> Virtually noiseless depth values<br> Low fill rate |
| Close Range High Accuracy | Adjustable larger parallax search range, Mini-Z reduction<br> The rest of the performance remains consistent with High Accuracy |
| Dual Color Streams | Supports left and right color streams at the same time, no depth IR information<br> The left and right output effects are consistent |
| Custom | Custom modifications, such as new configurations of post-processing pipelines and modifications to deep AE functions |
> Since the parameter configuration of `Dual Color Streams` mode is quite different from that of `Default` mode, we provide the corresponding YAML configuration file.
Please set `config_file_path` to `gemini305_dual_color.yaml`, the configuration file is located in the config directory.
## Extended presets
### G33X Close Range High Accuracy (Gemini 330 / Gemini 335 / Gemini 336)
| Defaults | Features | Recommended usage scenarios |
| --- | --- | --- |
| G33X Close Range High Accuracy | For the selected depth resolution, the depth value at the closest working distance will be reduced by 50%<br> The new closest working distance is 0.13m when close application is enabled<br> Supported depth resolutions: 1280x800/1280x720/640x400/424x266 only | Eye in hand and close range operation tasks<br> Close range measurement |
### G336X AMR Default (Gemini 336 / Gemini 336L)
| Defaults | Features | Recommended usage scenarios |
| --- | --- | --- |
| G336X AMR Default | Optimized for reliable depth performance in sunlit and repetitively textured warehouse scenes<br> Recommended depth resolutions: 1280x800 / 640x400 / 424x266 | Warehouse AMRs |