Version

5.3.6. Device default

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.

For example, modify the default device preset to High Accuracy in the launch file:

DeclareLaunchArgument('device_preset', default_value='High Accuracy')

5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L

Defaults	Features	Recommended usage scenarios
Default	Best visual effect Overall performance is good, including typical indicators such as accuracy, filling rate, small object detection capability	General scenarios Robot application
Hand	Clear hand and finger edges	Gesture recognition
High Accuracy	Highly reliable depth information Very little depth noise Relatively low depth fill rate	Obstacle avoidance Object scanning
High Density	Higher depth filling rate Can detect more small objects More susceptible to depth noise	Object recognition Grabbing Foreground or background processing, such as cutout, etc.
Medium Density	Balanced depth fill rate and precision performance 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 Fully proven customized depth configuration

5.3.6.2. Gemini 336 / Gemini 336L

Defaults	Features
Default	The best visual effect The overall performance is good, including typical indicators such as accuracy, filling rate, and small object detection capabilities
High Accuracy	Highly reliable depth information Very little depth noise Relatively low depth fill rate
Custom	Custom modifications, such as new configurations of post-processing pipelines and modifications to deep AE functions

5.3.6.3. 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

5.3.6.4. 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

5.3.6.4.1. Gemini 2L Dual IR Mode

Gemini 2L can switch to Dual IR mode with a YAML configuration:

ros2 launch orbbec_camera gemini2L.launch.py config_file_path:=gemini2L_dual_ir.yaml

The configuration file is located at orbbec_camera/config/gemini2L_dual_ir.yaml. It sets depth_work_mode to In-scene Calibration, disables the normal ir stream, and enables left_ir and right_ir.

5.3.6.5. Gemini 301 series

Defaults	Features
Default	Best visual perception Good overall performance in terms of accuracy, filling rate, small objects, etc.
High Accuracy	High confidence depth values Virtually noiseless depth values Low fill rate
Close Range High Accuracy	Adjustable larger parallax search range, Mini-Z reduction 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 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

5.3.6.5.1. Dual Color Mode

The Dual Color Streams mode supports left and right color streams at the same time. It does not provide depth or IR information, and the left and right outputs have consistent effects.

Because this mode uses a parameter configuration that differs significantly from Default, start it with the corresponding YAML configuration file:

ros2 launch orbbec_camera gemini_301_series.launch.py config_file_path:=gemini305_dual_color.yaml

The configuration file is located at orbbec_camera/config/gemini305_dual_color.yaml. It enables the left_color and right_color streams; other parameters inherit the defaults from gemini_301_series.launch.py.

5.3.6.6. Extended presets

5.3.6.6.1. 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% The new closest working distance is 0.13m when close application is enabled Supported depth resolutions: 1280x800/1280x720/640x400/424x266 only	Eye in hand and close range operation tasks Close range measurement

5.3.6.6.2. 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 Recommended depth resolutions: 1280x800 / 640x400 / 424x266	Warehouse AMRs