Time of Flight Camera for Raspberry Pi and NVIDIA® Jetson Nano/Xavier NX/AGX Orin/Orin Nano/Orin NX



  • Pixel-level accuracy: powerful depth/distance measurement.
  • Large working range: 2m/4m optional, and a 10-meter broader coverage with our cable extension kit.
  • Outdoor usable: No worry of interferences from ambient light.
  • Any MV library works: 3 languages applicable. C, C++ or Python
  • Affordable decency: 3D imaging with primed point clouds at an unexpectedly low cost.


A Time of Flight camera module 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.



Quick sum-up about the camera:

● Real-time point cloud and depth map.
● Resolution: 240x180@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.
● 38 x 38mm board size



Number of Effective Pixels 240×180
Image Size 1/6″
Max. Frame Rate (Sensor) 120fps
Max. Depth Frame Rate (Raspberry Pi) 30fps, 4-phase
Max. Depth Frame Rate (Nvidia Jetson**) 30fps, 4-phase
Raspberry Pi OS Bookworm/Bullseye (32-bit/64-bit) 01/28/22 or later releases
TDP 3.5W Power supply for Pi should be at least 5V/4A
Supported Platforms*** Pi 5/4/2/3/CM3/4B/Zero W/Zero 2 W/CM4/Nvidia Jetson Board
Modulation Frequency 75MHz/37.5MHz
Viewing Angle 70° Diagonal
Measurement Distance Far Mode: 4m Near Mode: 2m
Light Source 940nm VCSEL illuminator
Board Size 38mm x 38mm
Interface MIPI (2-Lane)
Output Formats 4-phases RAW Frame, Depth Frame, Grayscale Amplitude Frame



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


Packing List

  • 1 x Arducam ToF Camera Module
  • 1 x FPC 15cm 15pin Cable
  • 1 x 2-pin Dupunt Cable 
  • 1 x15cm 15-22pin FPC Cable


*To use the camera on Pi Zero and 2 W, you need this.

** Tested on Jetson Nano/Orin NX/Orin Nano/Xavier NX

*** To utilize it with Raspberry Pi 5, updating the firmware is necessary. Please refer to: Firmware Update



Is it compatible with all Raspberry Pi models?
Yes, it can work with most Pis. However, with early models, there may be performance drops.

Do I need external light sources?
No, the camera has an onboard laser. (Non-intrusive, safe for the human eye.)

What’s the maximum operating range?
Far Mode: 4m Near Mode: 2m


See the full list of FAQs >

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