TORK released a new ROS driver package for CIS ToF camera sensor


TORK released a new ROS driver package for CIS ToF camera sensor

We released a new ROS package “cis_camera” (

This ROS package is a driver package for CIS Corporation ( ) ToF (Time of Flight) camera sensor DCF-RGBD1.

DCC-RGBD1 is a small ToF camera sensor (development kit) that can acquire a wide range of depth images.

  • High accuracy depth images can be acquired in the range of 15cm to 5m.
  • Small size H: 50mm × W: 55mm × D: 35mm (excluding protrusions)
  • Simultaneous acquisition of RGB (QVGA) and Depth / IR (VGA) images
  • Interface : USB 3.0 (USB 3.0 micro B connector installed: USB power supply is not supported)
  • For indoor use

In this package, in addition to the ROS driver for the CIS ToF camera sensor, a sample program of point cloud processing for noise removal, plane detection / removal, an object point cloud extraction and calculating the object frame position. And a launch file for 3D drawing of these processing results in RViz is included.

Please refer to a documentation in GitHub for usage.

If you have problems with this package, please report them on GitHub Issues.

For inquiries to obtain CIS ToF camera sensor hardware, etc., please contact the following:

For hardware inquiries: Sales Representative, CIS Corporation
Email address:
Phone number: +81-(0)42-664-5568

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CIS ToF Camera Sensor - Now Available for Purchase Online

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