Explore camera functions in Orbbec Viewer

1. Orbbec Viewer Special Feature Summary

Orbbec Viewer is a one-stop preview tool service platform launched by Orbbec, based on the Orbbec SDK. In addition to standard functionalities such as turning data streams on and off, controlling data streams, and storing data streams, it also supports some special features as outlined in the table below:

2. Check Device Connection

Connect the camera and the host platform, such as a Windows PC or a Linux development board, using a USB-C cable. Once connected, the Orbbec 3D camera can be enumerated without the need to install drivers.

On the Windows platform, you can quickly launch the Device Manager by pressing the “Win + R” shortcut keys and then running “devmgmt.msc”. In the “Cameras” section of the Device Manager, you can view the enumerated devices. Please refer to the figure below：

On the Linux platform, you can enumerate USB devices by running the “lsusb” command in the terminal, and then obtain the device connection information.

After confirming that the device is connected, you can run the Orbbec Viewer tool. The current device connection status will be prompted in the upper left corner of the Orbbec tool. As shown in the figure below：

Through the connection information provided by Orbbec Viewer, you can obtain the device model, serial number (SN), and data interface. Click on the drop-down button on the right side ,and you can get all the information of the currently connected devices, as shown in the figure below：

Hover the mouse over the SN of any device, and you can obtain more detailed information about the device, including Name (product name), PID (Product ID/Device Identification Code), SN (Serial Number), and UID (Unique Identification Code for the connected device).

3. Camera Functions

3.1 Device Control

• “DepthWorkMode” Selection: Support long-distance mode and short-distance mode.

Close-up Precision mode (close-up high-precision mode): Working distance is 15cm – 32cm.

Long-distance mode: Working distance is 20cm – 70cm.

As shown in the figure below:

• “Floodlight” can be used to turn on and off the floodlight;
• “Laser Control” can be used to turn on and off the VCSEL;
• “Synchronization Configuration” can control the frame synchronization (of depth and RGB) of the camera or the multi-camera synchronization (synchronization among multiple devices);
• “Timestamp Synchronization” can be used to synchronize the timestamps of depth, RGB and IMU;
• “Timestamp Reset” can receive the timestamp reset signal sent by the preceding devices for multi-camera synchronization.

3.2 Depth

“DepthUnit (millimetre)” represents the unit of the depth data output. The depth data is output by the MX6600 chip, and the output data format is a 16-bit unsigned value with a value range of 0 – 65535. Under the default depth unit of 0.2 mm, the output depth range is 0 – 13.107 m. In order to improve the precision of data output at close distances and expand the output range at long distances, Orbbec provides depth units ranging from 0.1 mm to 1.6 mm for users to choose from. At close distances, the precision can be improved by using a smaller depth unit.

The button functions above the data stream are illustrated as follows：

Stream preview windows	Button	Instruction
		Maximize/minimize the current data flow rendering display
		Show/hide current data stream metadata information
		Pause current data stream rendering display
		Start current data stream rendering display
		Get snapchat
		Enlarge the current data stream preview window
		Restore default preview window size
		Stop current data stream
		Adjust the IMU preview coordinate system visual effect range

3.3 IMU

Orbbec has developed a data correction function for the inertial measurement unit (IMU). The calibration of the gyroscope is based on the calibration of the accelerometer. After the accelerometer is calibrated, the component in the z-direction of the acceleration can be integrated to obtain the theoretical value of the gravitational acceleration. Then, a comparison is made with the orientation data obtained by the gyroscope to obtain the cost parameter for the purpose of calibration.

The IMU data can be saved and recorded for any length of time with the time unit being seconds. The recorded data is stored in the “/installation path/output/IMU” folder.

3.4 Save Image

Orbbec Viewer supports storing depth, RGB, left infrared (IR), and right IR data. You can store rendered screenshots and original images by using the screenshot button . Alternatively, you can check the data streams under the “Save Image” option and then save them.

Storage method	Interface display	Storage
Method 1: Screenshot button on the preview windows		Rendering snapshot & image map & raw data for Depth & IR & Color stream. Csv table for IMU stream.
Method 2: Save Image Tab		Image map for Depth & IR & Color stream.

4. Advanced

4.1 PointCloud

The point – cloud data stream can be initiated in the following two ways:

1. Through the point cloud button on the shortcut function bar. 
2. Start it through the ” Stream” button under the “Point Cloud” tab.

Alignment modes of the point cloud include “Disable”, “D2C(SW)”, and “D2C(HW)”. The default configuration is “D2C(SW)”. “D2C” refers to the spatial alignment of the depth map and the color map. “SW” means that the alignment is performed on the host computer platform (such as a Windows PC or a Linux development board), which will consume the computing power of the host computer. The resolutions of the depth and color can be selected through the options below:

• “Depth scale” Function;
• “Frame synchronization” function is to enable the synchronization of depth and color images and ensure the alignment of timestamps.

After turning on the “Stream”, you can click the “Get” button under the “Camera Param” tab to obtain the internal and external parameters of the camera at the current resolution. As shown in the example below:

Examples of internal and external parameters are as follows:

4.2 Image View

You can view the superimposed effect of the D2C depth and color images through the image view to confirm whether the depth and color images are aligned. Click the “Display” button  to open the depth-color alignment view. You can check the superimposed alignment effect by clicking the “Overlay ” button, and you can adjust the transparency of the superimposed depth rendering effect through the “Alpha” tab.

In the “Save Data (count)” tab, you can set the number of aligned depth point cloud images to be saved. Click it to start saving the images. The default image saving location is: /installation path/output/sn/DepthToColor path. You can also store the original data (in raw format), rendered screenshots (in png format), and the aligned data table through the buttons above the preview window.

4.3 Record-Playback

The Record-Playback function includes the recording and playback functions of ROSbag packages. Click “Start” under the “Record:” option to start recording a bag package. When you need to end the recording, click the “Stop” button.

When playing back an ROSbag package, you first need to select the path of the playback file. Click on the right side to import the local path. Click the “Start” button to start the playback; Click the “Stop” button to end the playback.

Note: Orbbec Viewer can only play back ROSbag packages recorded by Orbbec devices.

5. More

5.1 Device Info

Click on the “More” icon on the left side to enter the “More” interface. On this interface, you can obtain the device information.

The first part is the product information and the log level. The log levels are divided into: DEFAULT, DEBUG, INFO, WARN, ERROR, and FATAL.

The second part contains the temperature information of the module, as well as the “heartbeat packet” and the information on restarting the device. In the second part, you can directly obtain the temperature information of the camera’s CPU, LDM, IR, RGB, and IMU. You can also restart the device by clicking the button . Moreover, you can turn on the “Heartbeat ” to obtain the device connection information at regular intervals.

5.2 Firmware Upgrade

In the “Firmware” option, you can upgrade by clicking the button to read the local file. Note that all data streams need to be closed during the upgrade. The downgrading method of the firmware version is the same as the upgrading method.

Users can obtain the firmware of the Gemini 215 through the following link: https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware

5.3 Orbbec Viwer Tool Upgrade

On the main interface of the Orbbec Viewer tool, when connected to the Internet, it will receive the upgrade push of the Viewer tool. Click it to jump to Github for downloading the Viewer tool and the new version of the SDK tool.

You can also obtain the latest version of Orbbec Viewer tools through this Github link: https://github.com/orbbec/OrbbecSDK_v2/releases