update tof example

Author: Erol444

docs/source/components/nodes/tof.rst

@@ -111,11 +111,11 @@ max distance is the larger of both modulation frequencies (so max distance at 80
   :nowrap:
 
   \begin{align*}
-  c & = 299792458.0 \quad \text{//! speed of light in m/s} \\
-  MAX\_80MHZ\_M & = \frac{c}{80000000 \times 2} = 1.873 \, \text{m}
-  MAX\_100MHZ\_M & = \frac{c}{100000000 \times 2} = 1.498 \, \text{m}
-  MAX\_DIST\_80MHZ_M & = (\text{phaseUnwrappingLevel} + 1) \times 1.873 + \frac{\text{phaseUnwrapErrorThreshold}}{2}
-  MAX\_DIST\_100MHZ_M & = (\text{phaseUnwrappingLevel} + 1) \times 1.498 + \frac{\text{phaseUnwrapErrorThreshold}}{2}
+  c & = 299792458.0 \quad \text{// speed of light in m/s} \\
+  MAX\_80MHZ\_M & = \frac{c}{80000000 \times 2} = 1.873 \, \text{m} \\
+  MAX\_100MHZ\_M & = \frac{c}{100000000 \times 2} = 1.498 \, \text{m} \\
+  MAX\_DIST\_80MHZ_M & = (\text{phaseUnwrappingLevel} + 1) \times 1.873 + \frac{\text{phaseUnwrapErrorThreshold}}{2} \\
+  MAX\_DIST\_100MHZ_M & = (\text{phaseUnwrappingLevel} + 1) \times 1.498 + \frac{\text{phaseUnwrapErrorThreshold}}{2} \\
   MAX\_DIST\_PHASE\_UNWRAPPING\_M & = MAX\_DIST\_80MHZ\_M
   \end{align*}
 

examples/ToF/tof_depth.py

@@ -17,17 +17,16 @@ def create_pipeline():
 
     # Configure the ToF node
     tofConfig = tof.initialConfig.get()
-    # Disable for debugging:
-    tofConfig.enableFPPNCorrection = True
-    tofConfig.enableWiggleCorrection = True
-    # tofConfig.enableTemperatureCorrection = True
 
     # 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)