# DIY RGB-D rig in a LEGO housing: live point-cloud display, 2 to 15 fps

- Source: Reddit r/robotics
- Published: 2026-10-24T05:12:01.000Z
- RoboHot: https://robohot.news/en/items/fu1x99xre40tbv4ojjgovuevd
- Original: https://www.reddit.com/r/robotics/comments/1xe006x/diy_rgbd_rig_in_a_lego_housing_live_pointcloud/

## Summary

A maker packed a 320×240 iToF sensor, a Pi camera, and a Pi Zero 2 W into a LEGO housing, with a 240×240 TFT screen on the back. After switching the camera to MJPEG and raising the TFT SPI from 4 MHz to 32 MHz, the screen displays a color point cloud at 15 fps.