# ToFConfig

This message is used to configure the [ToF](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/tof.md) node.

## Examples of functionality

 * [ToF (RVC2 example)](https://docs.luxonis.com/software-v3/depthai/examples/rvc2/tof/tof.md)

## Reference

### dai::ToFConfig

Kind: class

ToFConfig message. Carries config for feature tracking algorithm

#### filters::params::MedianFilter median

Kind: variable

Set kernel size for depth median filtering, or disable

#### int phaseUnwrappingLevel

Kind: variable

#### uint16_t phaseUnwrapErrorThreshold

Kind: variable

#### bool enablePhaseShuffleTemporalFilter

Kind: variable

#### bool enableBurstMode

Kind: variable

#### bool enableDistortionCorrection

Kind: variable

#### std::optional< bool > enableFPPNCorrection

Kind: variable

#### std::optional< bool > enableOpticalCorrection

Kind: variable

#### std::optional< bool > enableTemperatureCorrection

Kind: variable

#### std::optional< bool > enableWiggleCorrection

Kind: variable

#### std::optional< bool > enablePhaseUnwrapping

Kind: variable

#### ToFConfig()

Kind: function

Construct ToFConfig message.

#### ~ToFConfig()

Kind: function

#### ToFConfig & setMedianFilter(filters::params::MedianFilter median)

Kind: function

parameters: median: Set kernel size for median filtering, or disable

#### void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)

Kind: function

#### DatatypeEnum getDatatype()

Kind: function

Get the datatype of this specific message.

return: DatatypeEnum

#### void setProfilePreset(ImageFiltersPresetMode presetMode)

Kind: function

Set preset mode for ToFConfig . parameters: presetMode: Preset mode for ToFConfig .

#### DEPTHAI_SERIALIZE(ToFConfig, median, enablePhaseShuffleTemporalFilter, enableBurstMode, enableDistortionCorrection,
enableFPPNCorrection, enableOpticalCorrection, enableTemperatureCorrection, enableWiggleCorrection, enablePhaseUnwrapping,
phaseUnwrappingLevel, phaseUnwrapErrorThreshold)

Kind: function

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.