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RGBD ToF Depth Camera Kit

Overview

The Arducam RGBD ToF Camera Kit (also known as Arducam T2 All-in-One Kit) is the ultimate turnkey solution for developers needing immediate access to high-precision depth sensing. Integrating a 16MP RGB sensor and a VGA ToF depth sensor, this kit delivers 1% depth accuracy and frame rates up to 55fps on the Raspberry Pi 5.

Whether for robotics, AR/VR, or industrial automation, this kit streamlines the path from prototyping to production.

Left: All-in-One Kit | Right: Camera Module Only

Key Applications

Versatile Use Cases

  • Robotics: Obstacle avoidance, SLAM navigation, and object recognition.
  • Augmented Reality (AR) / VR: High-precision environmental depth sensing.
  • 3D Scanning: Detailed 3D model reconstruction.
  • Industrial Automation: Quality control, package sorting, and volume measurement.
  • Smart Home: Gesture control and security monitoring.
  • Medical Devices: Non-invasive depth measurement for diagnostics.

Specifications

Comparison: Kit vs. Module

Feature All-in-One Kit (B0548) Camera Module (B0556)
Image B0548 B0556
Component Type Complete Solution (w/ Pi 5 inside) Integration Module
Resolution 16MP (RGB) + VGA (ToF) 16MP (RGB) + VGA (ToF)
Stream Type RGB + Depth Map RGB + Depth Map
Interface MIPI CSI-2 MIPI CSI-2
Target Use Quick Prototyping / Turnkey Custom Integration

Hardware Setup

Power Requirements

Power Supply Recommendation

To ensure optimal stability and performance—especially when using the depth processor—an Official Raspberry Pi 27W USB-C Power Supply is highly recommended.

Handling Precautions

Critical Warning: Do Not Disassemble

Strictly NO Disassembly for the All-in-One Kit (B0548).

This product is factory-assembled and preciseness-calibrated as a sealed unit.

  1. Physical Damage: Disassembly carries a high risk of tearing internal ribbon cables and damaging connectors.
  2. Loss of Calibration: Opening the case invalidates the optical and depth calibration parameters. This will permanently destroy the depth sensing accuracy and render the device unusable.

Software Guide (Pre-built)

The Arducam RGBD Kit comes with system-wide aliases pre-configured. You can run these commands from any terminal path to access the 6 core demonstrations.

Login Info

  • Username: pi
  • Password: raspberrypi
  • Helper Tool: Type run-help to list all available parameters and commands.

Pre-built Demonstrations

Access raw depth data without the RGB overlay.

1. Depth Preview (run-tof)

Preview the depth map and infrared intensity.

  • Close Range Mode (Near): 
    run-tof --mode 0
  • Long Range Mode (Far): 
    run-tof --mode 1

ToF Only Visualization
From Top to Bottom: Confidence, Depth, Greyscale

2. ToF Point Cloud (run-tof-pointcloud)

Visualize the raw 3D depth cloud (grayscale based on intensity).

run-tof-pointcloud

ToF Point Cloud
ToF-only Point Cloud View

Combine the 16MP Camera color data with the ToF depth sensor.

3. RGBD Capture (run-rgbd)

Displays the color video stream synchronized with the depth map.

run-rgbd

RGBD Capture Demo
Aligned RGB and Depth View

4. RGBD Point Cloud (run-rgbd-pointcloud)

Renders a real-time, fully colored 3D Point Cloud.

run-rgbd-pointcloud

RGBD Point Cloud
RGB-Mapped 3D Point Cloud

5. Volume Measurement (run-rgbd-volume)

Dynamically calculates the volume of objects using depth contours.

run-rgbd-volume
Mixed Window Contours Window Mask Window
Mixed Window
Displays object volume info.		 Contours Window
Displays the selected object.		 Mask Window
White: Reference Plane
Gray: Object

6. ROS 2 Integration (ros demo)

Launch the standard ROS2 node and visualization tools.

Step 1: Start the Node (on Raspberry Pi)

ros-setup
ros2 run arducam_rclcpp_rgbd_pointcloud rgbd_pointcloud

Step 2: Visualization

  • Option A: Local Visualization

    Run directly on the Raspberry Pi(in a new terminal): 

    ros-setup
rviz2
    ROS Rviz2 Local
    Local Rviz2 Visualization

  • Option B: Remote LAN Visualization

    You can also observe the data on another PC connected to the same Local Area Network (LAN) by launching rviz2 on the remote machine.

    ROS Rviz2 LAN
    Remote Visualization via LAN

Developer Compilation Guide

If you intend to modify the source code or integrate the driver into your own C++ project, follow the compilation instructions below.

Use these instructions to compile the standalone depth sensor applications.

1. Basic Example

Compile the demo script: 

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

Success Indicator

If compilation is successful, the terminal will verify the path:
== Run /home/pi/tof-examples/build/example/cpp/example

Run the compiled binary: 

/home/pi/tof-examples/build/example/cpp/example

2. Point Cloud

Compile the point cloud demo: 

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

Success Indicator

If compilation is successful, the terminal will verify the path:
== Run /home/pi/tof-examples/build/open3d_preview/preview_pointcloud

Run the compiled binary: 

/home/pi/tof-examples/build/open3d_preview/preview_pointcloud

Use these instructions to compile the combined RGB + ToF applications.

Restriction Note

Please note that the source code for the example and volume_measurement demos is not currently supported for user compilation.

1. Capture Demo

Compile the source code: 

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

Run the application: 

# Run C++ Version
/home/pi/rgbd-examples/capture/build/capture

# Run C Version
/home/pi/rgbd-examples/capture/build/capture_c

Tip

Press q in the preview window to exit the program.

2. Point Cloud

Compile the source code: 

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

Run the application: 

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

Tip

Press Ctrl + C in the terminal to force stop the program.

Video Demonstration

Explore the capabilities of the Arducam RGBD ToF Camera through these demonstrations.

  • Product Introduction Arducam T2 Intro

    An overview of the Arducam T2 All-in-One Kit features and hardware design.

  • Point Cloud Demo Point Cloud Demo

    Real-time point cloud visualization demonstrating depth accuracy.

  • ROS 2 Integration ROS 2 Demo

    Seamless integration with ROS 2 for robotics applications.

  • Volume Measurement Volume Demo

    Using depth data to calculate the volume of physical objects dynamically.