# ToF Depth This is a sample code that showcases how to use the ToF sensor. The [ToF node](https://docs.luxonis.com/software/depthai-components/nodes/tof.md) converts raw data from the ToF sensor into a depth map. ## Demo This demo was recorded using the [OAK-D ToF](https://docs.luxonis.com/hardware/products/OAK-D%2520ToF.md) that's why we selected CAM_A port on the ToF sensor. ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code ```python #!/usr/bin/env python3 import time import cv2 import depthai as dai import numpy as np print(dai.__version__) cvColorMap = cv2.applyColorMap(np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET) cvColorMap[0] = [0, 0, 0] def create_pipeline(): pipeline = dai.Pipeline() tof = pipeline.create(dai.node.ToF) # Configure the ToF node tofConfig = tof.initialConfig.get() # Optional. Best accuracy, but adds motion blur. # see ToF node docs on how to reduce/eliminate motion blur. tofConfig.enableOpticalCorrection = True tofConfig.enablePhaseShuffleTemporalFilter = True tofConfig.phaseUnwrappingLevel = 4 tofConfig.phaseUnwrapErrorThreshold = 300 tofConfig.enableTemperatureCorrection = False # Not yet supported xinTofConfig = pipeline.create(dai.node.XLinkIn) xinTofConfig.setStreamName("tofConfig") xinTofConfig.out.link(tof.inputConfig) tof.initialConfig.set(tofConfig) cam_tof = pipeline.create(dai.node.Camera) cam_tof.setFps(60) # ToF node will produce depth frames at /2 of this rate cam_tof.setBoardSocket(dai.CameraBoardSocket.CAM_A) cam_tof.raw.link(tof.input) xout = pipeline.create(dai.node.XLinkOut) xout.setStreamName("depth") tof.depth.link(xout.input) tofConfig = tof.initialConfig.get() return pipeline, tofConfig if __name__ == '__main__': pipeline, tofConfig = create_pipeline() with dai.Device(pipeline) as device: print('Connected cameras:', device.getConnectedCameraFeatures()) qDepth = device.getOutputQueue(name="depth") tofConfigInQueue = device.getInputQueue("tofConfig") counter = 0 while True: start = time.time() key = cv2.waitKey(1) if key == ord('f'): tofConfig.enableFPPNCorrection = not tofConfig.enableFPPNCorrection tofConfigInQueue.send(tofConfig) elif key == ord('o'): tofConfig.enableOpticalCorrection = not tofConfig.enableOpticalCorrection tofConfigInQueue.send(tofConfig) elif key == ord('w'): tofConfig.enableWiggleCorrection = not tofConfig.enableWiggleCorrection tofConfigInQueue.send(tofConfig) elif key == ord('t'): tofConfig.enableTemperatureCorrection = not tofConfig.enableTemperatureCorrection tofConfigInQueue.send(tofConfig) elif key == ord('q'): break elif key == ord('0'): tofConfig.enablePhaseUnwrapping = False tofConfig.phaseUnwrappingLevel = 0 tofConfigInQueue.send(tofConfig) elif key == ord('1'): tofConfig.enablePhaseUnwrapping = True tofConfig.phaseUnwrappingLevel = 1 tofConfigInQueue.send(tofConfig) elif key == ord('2'): tofConfig.enablePhaseUnwrapping = True tofConfig.phaseUnwrappingLevel = 2 tofConfigInQueue.send(tofConfig) elif key == ord('3'): tofConfig.enablePhaseUnwrapping = True tofConfig.phaseUnwrappingLevel = 3 tofConfigInQueue.send(tofConfig) elif key == ord('4'): tofConfig.enablePhaseUnwrapping = True tofConfig.phaseUnwrappingLevel = 4 tofConfigInQueue.send(tofConfig) elif key == ord('5'): tofConfig.enablePhaseUnwrapping = True tofConfig.phaseUnwrappingLevel = 5 tofConfigInQueue.send(tofConfig) elif key == ord('m'): medianSettings = [dai.MedianFilter.MEDIAN_OFF, dai.MedianFilter.KERNEL_3x3, dai.MedianFilter.KERNEL_5x5, dai.MedianFilter.KERNEL_7x7] currentMedian = tofConfig.median nextMedian = medianSettings[(medianSettings.index(currentMedian) + 1) % len(medianSettings)] print(f"Changing median to {nextMedian.name} from {currentMedian.name}") tofConfig.median = nextMedian tofConfigInQueue.send(tofConfig) imgFrame = qDepth.get() # blocking call, will wait until a new data has arrived depth_map = imgFrame.getFrame() max_depth = (tofConfig.phaseUnwrappingLevel + 1) * 1500 # 100MHz modulation freq. depth_colorized = np.interp(depth_map, (0, max_depth), (0, 255)).astype(np.uint8) depth_colorized = cv2.applyColorMap(depth_colorized, cvColorMap) cv2.imshow("Colorized depth", depth_colorized) counter += 1 device.close() ``` ## Pipeline ### examples/tof_depth.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "raw", "node1OutputGroup": "", "node2Id": 0, "node2Input": "input", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "depth", "node1OutputGroup": "", "node2Id": 3, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "input" ], { "blocking": true, "group": "", "id": 2, "name": "input", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "intensity" ], { "blocking": false, "group": "", "id": 3, "name": "intensity", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "amplitude" ], { "blocking": false, "group": "", "id": 4, "name": "amplitude", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "depth" ], { "blocking": false, "group": "", "id": 5, "name": "depth", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "phase" ], { "blocking": false, "group": "", "id": 6, "name": "phase", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ToF", "properties": { "initialConfig": { "enableBurstMode": false, "enableDistortionCorrection": true, "enableFPPNCorrection": null, "enableOpticalCorrection": true, "enablePhaseShuffleTemporalFilter": true, "enablePhaseUnwrapping": null, "enableTemperatureCorrection": false, "enableWiggleCorrection": null, "median": 0, "phaseUnwrapErrorThreshold": 300, "phaseUnwrappingLevel": 4 }, "numFramesPool": 4, "numShaves": 1, "warpHwIds": [] } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 7, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "tofConfig" } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 8, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 13, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 14, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 9, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 10, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, "group": "", "id": 11, "name": "isp", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "preview" ], { "blocking": false, "group": "", "id": 12, "name": "preview", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 15, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "Camera", "properties": { "boardSocket": 0, "calibAlpha": null, "cameraName": "", "colorOrder": 0, "fp16": false, "fps": 60.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "interleaved": true, "isp3aFps": 0, "ispScale": { "horizDenominator": 0, "horizNumerator": 0, "vertDenominator": 0, "vertNumerator": 0 }, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "previewHeight": 300, "previewKeepAspectRatio": true, "previewWidth": 300, "rawPacked": null, "resolutionHeight": -1, "resolutionWidth": -1, "sensorCropX": -1.0, "sensorCropY": -1.0, "sensorType": -1, "stillHeight": -1, "stillWidth": -1, "videoHeight": -1, "videoWidth": -1, "warpMeshHeight": 0, "warpMeshSource": -1, "warpMeshStepHeight": 32, "warpMeshStepWidth": 32, "warpMeshUri": "", "warpMeshWidth": 0 } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 16, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "depth" } } ] ] } } ``` ### Need assistance? 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