ArduCam Time of Flight (ToF) Camera Module for RPi

This is a Time of Flight (ToF) camera module from Arducam, featuring a MIPI-CSI 2 connection and offering up to 4-meter measuring range with sub-2cm precision, designed and optimized exclusively for Raspberry Pi & Nvidia Jetson boards.

Note: Raspberry Pi OS Bullseye is required for this camera (04/04/2022 or later releases), a fresh install is highly recommended.

Video on ToF Camera on Nvidia Jetson Nano/NX (Demo):

How Time of Flight (ToF) Works:

A ToF Camera emits modulated lights (CW method) and uses the time it takes for the said lights to be reflected back to measure the distance/depth info of any given object/scene, and you can obtain depth data (X, Y & Z coordinate position) in every pixel.

Light travel is calculated with d=C/2f, where C is the speed of light and f is the modulation frequency.

• Real-time point cloud and depth map.
• Resolution: 240×180@30fps on RPi4/CM4
• Up to 4M measuring distance
• Onboard 940nm laser for both indoor & outdoor uses, no external light source needed.
• V4L2-based video kernel device
• C/C++/Python SDK for userland depth map output and example source code
• ROS ready
• Image size: 1/6"
• Max frame rate (sensor): 120fps
• Viewing angle: 70° Diagonal
• Compatible Raspberry Pi:
  • Raspberry Pi 4 Model B
  • Raspberry Pi CM4 with Wireless, with a carrier board
  • Raspberry Pi CM4 without Wireless, with a carrier board
  • Raspberry Pi CM3, with carrier board
  • Raspberry Pi 3
  • Raspberry Pi 2
  • Raspberry Pi Zero W
  • Raspberry Pi Zero 2W: Note: To use the camera on Pi Zero and 2 W, you will need a ribbon cable for Raspberry Pi Zero
• Compatible RPi OS: Bullseye (32-bit/64-bit) 4th Apr 2022 or the latest release
• 38 x 38mm board size

• 1 x Arducam ToF Camera Module
• 1 x FPC Cable (15cm)
• 1 x 2-pin Dupont Cable

• Getting Started with Arducam ToF Camera
• Getting Started with Arducam ToF Camera (PDF)
• Arducam ToF Camera SDK
• Point Cloud With Arducam ToF Camera
• Getting Started with Nvidia Jetson
• Github – Arducam ToF
• 3D Model of ToF Camera
• Running ROS on Raspberry Pi with ToF Camera (Demo)

• ROS w/ ToF Camera on Nvidia Jetson Nano/Xavier NX (Demo)