ToF¶

ToF node is used for converting the raw data from the ToF sensor into a depth map. Currently, these 2 products contain a ToF sensor:

OAK-D SR PoE - integrated 33D ToF sensor, together with a stereo camera pair
OAK-FFC ToF 33D - standalone FFC module with a 33D ToF sensor

ToF’s depth output can be used instead of StereoDepth’s - so you can link ToF.depth to MobileNetSpatialDetectionNetwork/YoloSpatialDetectionNetwork or SpatialLocationCalculator directly.

How to place it¶

pipeline = dai.Pipeline()
warp = pipeline.create(dai.node.ToF)

dai::Pipeline pipeline;
auto warp = pipeline.create<dai::node::ToF>();

Inputs and Outputs¶

            ┌───────────┐    depth
inputConfig |           ├────────►
───────────►│           | amplitude
   input    |    ToF    ├────────►
───────────►│           │    error
            │           ├────────►
            └───────────┘

Message types

inputConfig - ToFConfig
input - ImgFrame
depth - ImgFrame
amplitude - ImgFrame
error - ImgFrame

Usage¶

pipeline = dai.Pipeline()

tof_cam = pipeline.create(dai.node.Camera)
# We assume the ToF camera sensor is on port CAM_A
tof_cam.setBoardSocket(dai.CameraBoardSocket.CAM_A)

tof = pipeline.create(dai.node.ToF)
# ToF node converts raw sensor frames into depth
tof_cam.raw.link(tof.input)

# Send ToF depth output to the host, or perhaps to SLC / Spatial Detection Network
tof.depth.link(xout.input)

dai::Pipeline pipeline;

auto tofCam = pipeline.create<dai::node::MonoCamera>();
// We assume the ToF camera sensor is on port CAM_A
tofCam->setBoardSocket(dai::CameraBoardSocket::AUTO);

auto tof = pipeline.create<dai::node::ToF>();
// ToF node converts raw sensor frames into depth
tofCam->raw.link(tof->input);

auto xout = pipeline.create<dai::node::XLinkOut>();
xout->setStreamName("depth");
// Send ToF depth output to the host
tof->depth.link(xout->input);

Examples of functionality¶

ToF depth

Reference¶

class depthai.node.ToF

ToF node

class Connection: Connection between an Input and Output

class Id: Node identificator. Unique for every node on a single Pipeline

Properties: alias of depthai.ToFProperties

property depth: Outputs ImgFrame message that carries modified image.

getAssetManager(*args, **kwargs)

Overloaded function.

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getInputRefs(*args, **kwargs)

Overloaded function.

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputs(self: depthai.Node) → List[depthai.Node.Input]: Retrieves all nodes inputs

getName(self: depthai.Node) → str: Retrieves nodes name

getOutputRefs(*args, **kwargs)

Overloaded function.

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputs(self: depthai.Node) → List[depthai.Node.Output]: Retrieves all nodes outputs

getParentPipeline(*args, **kwargs)

Overloaded function.

getParentPipeline(self: depthai.Node) -> depthai.Pipeline
getParentPipeline(self: depthai.Node) -> depthai.Pipeline

property id: Id of node

property initialConfig: Initial config to use for depth calculation.

property inputConfig: Input ToF message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

class dai::node::ToF : public dai::NodeCRTP<Node, ToF, ToFProperties>¶

ToF node.

Public Functions

ToF(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId)¶: Constructs ToF node.

ToF(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)¶

Public Members

ToFConfig initialConfig¶: Initial config to use for depth calculation.

Input inputConfig = {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ToFConfig, false}}}¶: Input ToF message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

Input input = {*this, "input", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImgFrame, true}}}¶

Output depth = {*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}¶: Outputs ImgFrame message that carries modified image.

Output amplitude = {*this, "amplitude", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}¶

Output intensity = {*this, "intensity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}¶

Output error = {*this, "error", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}¶

Public Static Attributes

static constexpr const char *NAME = "ToF"¶

Private Members

std::shared_ptr<RawToFConfig> rawConfig¶

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