ToF depth

This is a sample code that showcases how to use the ToF sensor. The ToF node converts raw data from the ToF sensor into a depth map.

Demo

This demo was recorded using the OAK-D SR PoE, that’s why we selected CAM_A port on the ToF sensor.

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script

git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py

For additional information, please follow installation guide

Source code

Python

C++

Also available on GitHub

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#!/usr/bin/env python3

import cv2
import depthai as dai
import numpy as np

pipeline = dai.Pipeline()

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

tof = pipeline.create(dai.node.ToF)

# Configure the ToF node
tofConfig = tof.initialConfig.get()
# tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MIN
tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MAX
tofConfig.depthParams.avgPhaseShuffle = False
tofConfig.depthParams.minimumAmplitude = 3.0
tof.initialConfig.set(tofConfig)
# Link the ToF sensor to the ToF node
cam_a.raw.link(tof.input)

xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName("depth")
tof.depth.link(xout.input)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:
    print('Connected cameras:', device.getConnectedCameraFeatures())
    q = device.getOutputQueue(name="depth")

    while True:
        imgFrame = q.get()  # blocking call, will wait until a new data has arrived
        depth_map = imgFrame.getFrame()

        # Colorize the depth frame to jet colormap
        depth_downscaled = depth_map[::4]
        non_zero_depth = depth_downscaled[depth_downscaled != 0] # Remove invalid depth values
        if len(non_zero_depth) == 0:
            min_depth, max_depth = 0, 0
        else:
            min_depth = np.percentile(non_zero_depth, 3)
            max_depth = np.percentile(non_zero_depth, 97)
        depth_colorized = np.interp(depth_map, (min_depth, max_depth), (0, 255)).astype(np.uint8)
        depth_colorized = cv2.applyColorMap(depth_colorized, cv2.COLORMAP_JET)

        cv2.imshow("Colorized depth", depth_colorized)

        if cv2.waitKey(1) == ord('q'):
            break

Got questions?

Head over to Discussion Forum for technical support or any other questions you might have.