Getting started: Arducam ToF Camera for Jetson
A quick guide for getting started with Arducam ToF Camera on Jetson Nano/Xavier NX.
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.
|Specification||Arducam ToF Camera|
|Price||$29.99 – Kickstarter $50 – MSRP|
|Number of Effective Pixels||240×180|
|Max. Frame Rate (Sensor)||120fps|
|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|
|Viewing Angle||70° Diagonal|
|Measurement Distance||Far Mode: 4m Near Mode: 2m|
|Light Source||940nm VCSEL illuminator|
|Board Size||38mm x 38mm|
|Output Formats||4-phases RAW Frame,
Grayscale Amplitude Frame
|Product Image||SKU||Pin/Connect Type||Color Type||Features||Light Source||Field of View（HxV）||Focus Type||IR Sensitivity|
|B0410||15/Top||Color||Real-time point cloud and depth map||940nm VCSEL illuminator||62.8°(H) x 37.9°(V)||Fixed Focus||without IR-cut filter|
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.
Make sure you are running a newer version of Jetpack (4.6.1 or later). A fresh install is highly recommended.
Connecting the camera to Jetson Nano/Xavier NX
For a more detailed graphic guide on how to connect, please check here.
Using the camera on Jetson Nano/Xavier NX
Follow each of the steps by running their respective command shown below.
Step 1. Pull the repository.
Step 2. Change the directory to Arducam_tof_camera/jetson
Step 3. *Installation (Driver, Dependencies, SDK, OpenCV)*
When you see the reboot prompt, enter y.
Step 4. compile & run
Once it’s successfully compiled, live previews of the camera will automatically pop up.
Instructions for Safe Use
To properly use the Arudcam ToF Camera, kindly note:
- Before connecting, you should always power the Jetson Nano/Xavier NX off and remove the power supply first.
- Make sure the cable on the camera board is locked in place.
- Make sure the cable is correctly inserted in the Jetson Nano/Xavier NX board’s MIPI CSI-2 connector.
- Avoid high temperatures.
- Avoid water, moisture, or conductive surfaces while in operation.
- Avoid folding, or straining the flex cable.
- Avoid cross-threading with tripods.
- Gently push/pull the connector to avoid damaging the printed circuit board.
- Avoid moving or handling the printed circuit board excessively while it’s in operation.
- Handle by the edges to avoid damage from electrostatic discharge.
- Where the camera board is stored should be cool and as dry as possible.
- Sudden temperature/humidity changes can cause dampness in the lens and affect the image/video quality.