# 33D

33D is a global shutter ToF sensor.

| Spec | Value |
| --- | --- |
| Shutter type | global |
| Type | ToF |
| Sensor size | 1/3.2" (7.9mm) |
| Pixel size | 7 μm |
| Platform Support | RVC2 |

## RVC2 supported resolutions

| Resolution name | Resolution size | Max FPS | MIPI lanes | Mode |
| --- | --- | --- | --- | --- |
| `THE_480_P` | 640x480 | 80 | 2 | Full resolution |

## RVC2 driver limits

Sensor driver adds support for that sensor to the [RVC2](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md). Here are RVC2
driver specifications for this sensor

Part of the ISP (Image Signal Processor) is also the 3A (Auto Exposure, Auto White Balance, Auto Focus) algorithm. They are
enabled by default, but you can also disable them and manually set the exposure, gain, white balance, etc.

### Manual limits

 * Min FPS: 0
 * Min exposure time: 0 μs
 * Max exposure time: `1 / CAM_FPS` seconds. Eg. 33ms @ 30FPS

### Auto limits

 * Min exposure time: 0 μs
 * Max exposure time: Depends on the Anti-Banding mode: * Anti-Banding mode OFF: 0 ms
    * Anti-Banding mode 50Hz: 0 ms
    * Anti-Banding mode 60Hz: 0 ms

Max AE exposure time depends on the Anti-Banding (AB) mode, which helps to avoid flickering when using artificial lighting. We can
configure the AB using the API:

```python
cam = pipeline.create(dai.node.ColorCamera) # Or MonoCamera
# "OFF", "MAINS_50_HZ", or "MAINS_60_HZ"
cam.initialControl.setAntiBandingMode(dai.CameraControl.AntiBandingMode.OFF)
```

For an explanation of ToF depth, see [ToF Depth Perception](https://docs.luxonis.com/hardware/platform/depth/ToF-depth.md).

## RVC2 average performance and limitations

On OAK-FFC devices, CAM_B and CAM_C share the same I2C bus, which means connected 33D FFC module calibration EEPROMs sit on the
same address space. FFC modules with conflicting I2C addresses cannot be used together on CAM_B and CAM_C.

Average performance when multiple 33D iToF FFC modules are used on an RVC2 OAK-FFC device:

 * 1×33D: ~72 FPS
 * 2×33D: ~33 FPS per module

Measured with DepthAI 3.10.0 at 640×480, requested 80 FPS, MID_RANGE profile, and burst mode disabled.

## Stagger mode

Stagger mode is a configurable operating mode on the 33D iToF sensor that offsets the emission and capture cycles between multiple
ToF modules. By staggering their firing windows, each sensor operates in its own non-overlapping time slot, which prevents optical
crosstalk and interference when several depth cameras share the same scene.

This is especially important in multi-sensor layouts where simultaneous illumination would cause phase contamination, reduced
depth accuracy, or complete measurement collapse.