Orbbec Gemini 210 Series Datasheet

Revision History

0. Glossary

1. Product Brief

As members of Orbbec's stereo vision Gemini series, the Gemini 215 and Gemini 210 are new additions to Orbbec's stereo vision Gemini series, they are specifically designed for high-precision close-range detailed 3D scanning applications such as body part and object scanning.

Powered by Orbbec's custom ASIC MX6600 and a high-performance optical system, Gemini 215 and Gemini 210 excel in close-range indoor scanning, delivering accurate and real-time depth images with fine details.

Supported by the open-source Orbbec SDK, it is easy to develop custom applications on platforms such as Windows and Linux, enabling fast, flexible and scalable project implementation.

These two cameras adopt the same optical system and hardware interface. The difference is that the Gemini 215 camera comes with housing, while the Gemini 210 doesn't have any housing, which leads to differences in their fixing methods.

• Active stereo, reliable indoor scanning even on textureless surfaces
• On-chip depth and RGB processing
• Excellent depth accuracy < 0.5mm at 300mm
• Short-range depth sensing for 0.15 – 0.7m
• Real-time depth processing up to 1280 x 800 @ 30fps
• Minimum point distance / resolution: 0.16mm @ 0.15m
• Multi-device sync support for expanding field of view

2. Product Specifications

Supported Functions:

• Hardware Spatial Alignment of Depth to Color (D2C)
• Hardware Timestamps
• Multi-camera Sync
• UVC Camera

Notes:

[1] When the reflectivity of the measured object is higher than 80%, depth data can be acquired for a maximum distance of 0.7m. However, the actual precision varies with the distance and the measured object.

[2] The test object is a flat plane with a reflectivity higher than 80%. The reference range is the depth map area of 81% FOV (81% FOV refers to the remaining central 81% area after cropping 5% from each of the top, bottom, left, and right of the depth map). Calculate the root mean square of the distancefor all valid points within the calculation area to the best-fitting position of the fitted plane.

[3] The camera is operating with the typical configuration and for 8 hours per day, and under the working environment of 0 - 40°C.

3. Product Information

3.1 Product Pictures

Gemini 215 Front View: A compact, dark-colored rectangular device with multiple lenses/sensors on the front face, including a central larger lens, two smaller lenses on either side, and two IR LED arrays.

Gemini 210 Front View: Similar to Gemini 215 but appears to be a bare PCB or module without an external housing, showing the same lens and IR LED arrangement.

Gemini 215 Rear View: A dark-colored housing with a USB Type-C port and an 8-pin multi-device sync port.

Gemini 210 Rear View: A bare PCB or module showing the back of the sensor array, with mounting holes and connectors.

3.2 Product Drawings

Technical drawings detailing the dimensions and component placement for both Gemini 215 and Gemini 210 models, including front, bottom, and rear views with various measurements indicated.

3.3 Product Interfaces

Gemini 215 features a USB Type-C port for data and power, and an 8-pin Multi-device Sync Port.

Gemini 210 also features a USB Type-C port and an 8-pin Multi-device Sync Port on its rear interface.

3.4 Product Components

3.4.1 Overview of Product Components for Gemini 215/Gemini 210

Visual representation of the Gemini 215 and Gemini 210, highlighting key components like the Laser Diode Module (LDM), RGB Camera, IR Camera, and IR Flood emitters.

3.4.2 Laser Diode Module

The laser module (LDM), also known as the laser emitting module, consists of a vertical-cavity surface-emitting laser array and other optic components. It projects a static infrared pattern onto the scene to enhance the texture of low-texture scenes and improves the ability of the 3D camera system to detect depth information. Under normal circumstances, the Gemini 215/210 laser module comply with Class 1 laser safety.

3.4.3 Infrared Module

3.4.5 RGB Module

3.4.5 IMU

4. Functional Specifications

4.1 Vendor Identifier (VID) and Product Identifier (PID)

4.2 Platform and System Requirements

This product connects to the host computer using USB, which is compatible with various platforms and system requirements.

4.3 Gemini 215/Gemini 210 FOV

4.3.1 Definition of Depth Field of View

The image below shows the depth field of view (FOV). For a better understanding, we illustrate the angles that the depth and IR cameras "see".

Depth FOV at any depth (Z) can be calculated using the following equation:

Note: Depth intrinsics, including cx, cy, fx, fy, width and height, are obtained through SDK APIs, and these parameters may vary across different units.

At different depth values, the depth FOV is non-constant. The farther the depth, the greater the depth FOV.

4.3.2 Illustration of Depth Field of View

The table below presents the reference values of the depth FOV for Gemini 215 / Gemini 210, including the horizontal FOV, vertical FOV and the tolerance range.

Gemini 215 and Gemini 210 Depth FOV @700mm:

• Horizontal FOV: 63.0°
• Vertical FOV: 44.8°
• FOV Tolerance: ±3.0°

4.4 Data Format of Depth and Color Streams

Gemini 215 / Gemini 210 provide high-quality, multi-resolution depth image data, and also offer high-definition color image data. The Y14/RLE format of the depth image data is the output format of the camera, while the output format of the SDK is Y16. The format of the color image data output by the camera is MJPEG/YUYV, and the SDK supports the output format of MJPEG/YUYV/RGB888.

4.5 Reference for the Depth Starting Point of Gemini 215

The depth starting point or ground zero reference can be described as the starting point or plane where the depth equals 0. For Gemini 215, the distance from the depth zero point to the front surface of the module is 2.2 mm.

4.6 Reference for the Depth Starting Point of Gemini 210

The depth starting point or ground zero reference can be described as the starting point or plane where the depth equals 0. For Gemini 210, the distance from the depth zero point to the front surface of the module is 1.3 mm.

4.7 Depth-to-Color (D2C) Alignment

Gemini 215 / Gemini 210 support spatially and temporally aligned output of D2C (Depth To Color) depth and color images. D2C (Depth To Color) refers to mapping each pixel point on the depth map to the corresponding position on the color map according to the internal and external parameters of the depth camera and the color camera, so as to obtain the RGBD map.

The maximum resolution supported for depth image alignment is 1280×800@30fps, and the maximum resolution supported for color image alignment can reach 1920 x 1080@30fps.

4.8 Depth Work Mode

4.9 IMU Specifications

4.9.1 IMU Coordinate System

The origin of the IMU coordinate system of Gemini 215 / Gemini 210 is consistent with the position of the center point of the physical sensor. The direction of the coordinate axis is consistent with the depth direction.

4.10 Multi-camera Data Synchronization Function

4.10.1 Multi-camera Synchronization

For a multi-camera use case, one camera can be initialized as primary, and the rest configured as secondary. Alternatively, an external signal generator can also be used as the primary trigger with all cameras set to secondary mode. When applying an external sync pulse, the HW SYNC input requires a 100-microsecond positive pulse at the nominal camera frame rate, e.g. 33.33ms for a 30Hz frame rate. Inputs are high impedance, 1.8V CMOS voltage levels. However, it is important to make sure to use a high-resolution signal generator. The frequency of the signal generator needs to exactly match the sensor frame rate. For example, if the sensor is set up as 30FPS, the real frame rate may be 30.015FPS. You may need to use an oscilloscope to measure the real frame rate and configure the signal generator to the same frequency. For this reason, it may be better to just use one additional camera as the primary sync signal generator.

Advantages of multi-camera setup:

• Increase camera coverage in a given space and fill in the occlusions where a single camera may have blind spots
• Capture multiple images of the same scene and scan objects from different angles
• Increase the effective frame rate to greater than 30 FPS

Using an 8-pin connector and matching cable, a multi-camera and multi-sensor network can be designed. (Please follow the instructions in the SDK).

Multi-camera synchronization in two topologies is supported, including depth image synchronization and RGB image synchronization (time difference ≤ 5ms, when auto exposure off), using the multi-camera synchronization function.

4.10.2 Description of multi-machine synchronization interface

5. Performance

5.1 Electrical Performance

5.1.1 Power Supply

Gemini 215 / Gemini 210 use the standard USB Type-C 5V DC for power supply.

5.1.2 Power Consumption

Notes: For diverse scenarios, the power consumption of the whole device may vary as the overall load varies.

5.1.3 ESD Performance

6. Firmware

6.1 Firmware Update & Cautions

Gemini 215/Gemini 210 support update the firmware via online or location, you can upgrade or downgrade as needed. To get the firmware and changelog: Firmware Release

Please note the following considerations:

1. You can update the firmware in any working mode or preset;
2. All data streams must be closed when update the firmware;
3. During the firmware update, please ensure that the power supply and data transmission cable connections are stable;
4. The camera will automatically restart after the firmware update is completed. You can also re-plug the cable after completion and restart it manually;

6.2 How to Update Firmware

The simplest way to update the firmware is through the Orbbec Viewer tool, which supports both manual updates and online updates. For detailed instructions, please refer to the documentation: Update firmware

6.3 Recovery

Ensure the stability of cable during the update process to avoid upgrade failure. If the update process fails, disconnect the cable, re-insert it, and burn the product again. If re-burning is unsuccessful, the product may be damaged. Orbbec assumes no liability for any damages or losses resulting from the use of this product.

7. Orbbec SDK

7.1 Description of Orbbec SDK

Orbbec SDK is a cross-platform (Windows, Android, Linux) software development kit for Orbbec's structured light, binocular, iToF and other 3D cameras. It provides device parameter configuration, data stream reading and stream processing. The functions provided include:

1. Access and control of hardware devices;
2. Access, control and data acquisition of sensors included in the device;
3. Control of frame synchronization and alignment;
4. Acquisition of point cloud data (this function can be obtained by updating the SDK version in subsequent versions);
5. Provision of algorithm capabilities such as filtering;
6. Support for different systems and Wrappers;
7. Effect display tool Orbbec Viewer;
8. Please select the corresponding SDK and display tool according to the different system versions of Gemini 215 / Gemini 210;
9. For Orbbec SDK download and update, please go to: Orbbec SDK v2 Open-Source Repo.

8. Use Guidance

8.1 Packing List

8.2 Initialization and Operation

• Connect Gemini 215/Gemini 210 via the USB cable to the host PC
• Download Orbbec SDK from: Orbbec SDK v2 Repo
• Use Orbbec Viewer to validate that images can be streamed from all sensors with the following settings:
  • Depth stream: 640 x 400
  • Color stream: 1280 x 720
  • IMU enabled
• If for any reason that the camera is not responding or not detected, please unplug all cables from the camera and replug the cable into the host PC for resetting the camera status.

9. Regulatory Compliance

These products are certified as follows:

9.1 Laser Safety certification

Class 1 Laser Product under the EN/IEC 60825-1:2014

[CLASS 1 LASER PRODUCT]

9.2 EMC Regulatory Compliance

9.3 Environment Regulatory Compliance

RoHS 2.0, REACH, WEEE,

10. System Integration Guide

Use outside of the specified conditions could cause the device to fail and/or function incorrectly. These conditions are applicable for the environment immediately around the device under all operational conditions. When used with an external enclosure, active temperature control and/or other cooling solutions are recommended to ensure the device is maintained within these ranges.

10.1 Installation Recommendations

1. When using external housing around the camera for dust proofing, use foam inserts or rubber gaskets between the front of the camera and the external housing.
2. Avoid external forces applied to the camera chassis during installation process.
3. Disassembling chassis will void the warranty.
4. For the detailed installation reference solution, please refer to Document Reference solution & best practice – mounting

10.2 Heat Dissipation

1. Avoid direct heat source around the camera.
2. Maximizing the space inside the external housing may help lower operating temperature.

10.3 Cable Design Guide

1. It is recommended to use the included USB Type-C cable. If there is a need for longer cable, please select a USB-IF certified cable that supports both power and data (≤3.0 m length is recommended).
2. For the detailed cable design guide reference solution, please refer to Document Reference design & best practice – cable

11. Cautions

1. Follow the instructions carefully when operating the camera. Improper handling may lead to damage to the internal components.
2. Do not drop the camera or expose the camera to mechanical stress.
3. Do not attempt to modify the camera as such modifications may cause permanent damage or performance degradation.
4. The temperature of the camera may rise during long periods of use.
5. Do not touch the lens. Fingerprints on the lens may affect image quality.
6. Keep the product beyond the reach of children or animals to avoid accidents.
7. If the computer does not recognize the camera, verify that the cable meets the power and data transfer requirements, then replug it into the USB port to reconnect.
8. This product is classified as a Class 1 Laser Product under the international standard EN/IEC 60825-1, Edition 3 (2014). Using controls, adjustments, or procedures other than those specified herein may result in hazardous radiation exposure.

Safety and Handling Instructions:

• Avoid powering on the product if any external damage was observed.
• Do not attempt to open any portion of this product. There are no user serviceable parts.
• Be cautious of invisible laser radiation. Avoid direct exposure to the beam.
• To maintain compliance and safety standards, do not modify or service the product. Unauthorized modifications or servicing could result in emissions surpassing the Class 1 safety level.
• Only update the camera firmware with official releases that match the specific module SKU and revision to ensure proper functionality and safety.

Appendix A Structural Drawings of Gemini 215

Technical drawings detailing the dimensions and component placement for the Gemini 215 model, including front, side, and rear views with various measurements indicated.

Appendix B Structural Drawings of Gemini 210

Technical drawings detailing the dimensions and component placement for the Gemini 210 model, including front, side, and rear views with various measurements indicated.