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Point Cloud With Arducam ToF Camera – for Jetson

point cloud library with a time of flight camera

About Point Cloud

A point cloud is a set of data points in space. The points may represent a 3D shape or object. Each point position has its set of Cartesian coordinates (X, Y, Z). Point clouds are generally produced by 3D scanners or by photogrammetry software, which measure many points on the external surfaces of objects around them.

With the Point Cloud Library, you can quickly generate a real-time point cloud with Arducam ToF camera and your Raspberry Pi, and utilize it in various 3D processing software/algorithms.

Using Point Cloud with Arducam ToF Camera on Jetson

To properly use Point Cloud with Arducam ToF Camera, the camera driver and necessary dependencies have to be installed first.

Step 1. Pull the repository.

git clone

Step 2. Change the directory to Arducam_tof_camera/jetson

cd Arducam_tof_camera/jetson

Step 3. *Installation (Driver, Dependencies, SDK, OpenCV)*


When you see the reboot prompt, enter y.

Step 4. Installing PCL

sudo apt-get update
sudo apt install libpcl-dev

Step 5. Compile

cd Arducam_tof_camera/pcl_preview
mkdir build && cd build  
cmake ..

Step 6. Run the example

Run in the pcl_preview/build folder


point cloud and depth preview