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RGBD ToF Depth Camera Kit

Introduction

Arducam RGBD ToF Camera Kit(Arducam T2 All-in-One Kit) is the ultimate solution for developers and innovators seeking a ready-to-use RGBD ToF camera. With its 1% depth accuracy, VGA resolution, and up to 55fps frame rate, it delivers unmatched precision and performance.

The kit includes everything you need to get started—camera module, processor board, cables, and accessories—making it perfect for prototyping, robotics, AR/VR, and more.

Applications

Applications

  • Robotics: For obstacle detection, navigation, and object recognition.

  • Augmented Reality (AR)/Virtual Reality (VR): For immersive, high-precision depth sensing.

  • 3D Scanning: For creating detailed 3D models and reconstructions.

  • Smart Home: For gesture control, security monitoring, and automation.

  • Industrial Automation: For quality control, sorting, and precision measurements.

  • Drones: For obstacle avoidance and terrain mapping.

  • Robotics: For SLAM (Simultaneous Localization and Mapping) and object detection.

  • Medical Devices: For precise depth measurements in diagnostic tools.

  • Retail: For smart shelves and customer behavior analysis.

  • Automotive: For advanced driver-assistance systems (ADAS) and parking assistance.

Product

Product Image SKU Resolution Chrome Camera Interface Features Product Type
B0548 16MP(RGB)&VGA(ToF) RGB+Depth MIPI CSI-2 RGB-Depth, Point Cloud, ROS All-in-One Kit
B0556 16MP(RGB)&VGAToF) RGB+Depth MIPI CSI-2 RGB-Depth, Point Cloud, ROS Camera Module

Quick Start Guide

Hardware

  • Preparation Notes

To ensure optimal performance, an official Raspberry Pi 27W power supply is recommended.

  • Product Appearance

Tips

  1. This product is in an assembled state when sold. Please be careful to disassemble it to avoid causing damage to the product.
  2. The SD card has been burned with an image and all applications are pre-installed when the kit sold.

Software - Single ToF

  • Example Demos

Run the following command to compile the demo:

cd ~/tof-examples
bash ./compile.sh

The red underlined line in the figure above begins with == Run needs to be saved(/home/...path).

Application Note

After running, paste the program path output above directly: As shown in the figure above, /home/pi/tof-examples/build/example/cpp/example

  • Point Cloud

Run the following command to compile the demo

cd ~/tof-examples
bash ./compile_pointcloud.sh

The red underlined line in the figure above begins with == Run needs to be saved(/home/...path).

Application Note

After running, paste the program path output above directly: As shown in the figure above, /home/pi/tof-examples/build/open3d_preview/preview_pointcloud

Software - RGBD All-in-one Kit

Pre-built Examples

Tip

Arducam RGBD all-in-one kit integrates some pre-built applications. You can directly run ready-made examples to use diverse functions.

  • Capture Demo - ToF Only

Open the Raspberry Pi terminal and input the following command:

./tof-example

Single Frequency

./tof-example --mode 0

Dual Frequency

./tof-example --mode 1

All Controllable parameters:

./tof-example --help

Demonstration:

  • Point Cloud Demo - ToF Only

Open the Raspberry Pi terminal and input the following command:

./tof-pointcloud

# Command line parameters are not supported

Demonstration:

  • Capture Demo - RGBD

Open the Raspberry Pi terminal and input the following command:

./rgbd-capture

# Command line parameters are not supported

Demonstration:

  • Point Cloud Demo - RGBD

Open the Raspberry Pi terminal and input the following command:

./rgbd-pointcloud

# Command line parameters are not supported

Demonstration:

  • ROS Demo

Image Capture

ros-setup

ros2 run arducam_rclcpp_rgbd_pointcloud rgbd_pointcloud

Display

ros-setup

rviz2

You can also use other devices in the LAN to open rviz2 to observe ros data

  • Volume Measurement

Run the Demo

run-rgbd-volume

Mixed Window

Display the object volume information:

Contours Window

Display the selected object:

Contours Window

Displays the area used for volume calculation, with white representing the reference plane and gray representing the object plane:



Compilation Tutorial

Note

The two demos: example and volume_measurement are not currently supported.

  • Capture

Run the following command to compile the demo:

cd ~/rgbd-examples/capture
cmake -Bbuild && cmake --build build -j4

Run the demo

/home/pi/rgbd-examples/capture/build/capture

/home/pi/rgbd-examples/capture/build/capture_c

tips

Note: Press the q key on the interface to exit the program

  • Point Cloud

Run the following command to compile the demo:

cd ~/rgbd-examples/pointcloud
cmake -Bbuild && cmake --build build -j4

Run the demo

/home/pi/rgbd-examples/pointcloud/build/pointcloud

tips

Note: Press ctrl + c on the terminal to exit the program

  • ROS

Run ros demo on Raspberry Pi

source /opt/ros/jazzy/setup.bash
ros2 run arducam_rclcpp_rgbd_pointcloud rgbd_pointcloud

Run rviz2

source /opt/ros/jazzy/setup.bash
rviz2

Video Demonstration

Arducam RGBD Camera Solution

Point Cloud

ROS

Volume Measurement