Time of Flight Camera for Raspberry Pi

by Arducam

Capture the world in 3D, with your Raspberry Pi.

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: 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.
  • 38 x 38mm board size

How ToF Works

ToF stands for “Time of Flight”. 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.


Specification Arducam ToF Camera
Number of Effective Pixels 240×180
Image Size 1/6″
Max. Frame Rate
Max. Depth Frame Rate
(Raspberry Pi)
30fps, 4-phase
Raspberry Pi OS 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 2/3/CM3/4B
Zero W/Zero 2 W/CM4
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



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

*To use the camera on Pi Zero and 2 W, you will need an adaptor cable