Updated ToF example

Author: Erol444

docs/source/components/nodes/tof.rst

@@ -61,13 +61,14 @@ In :ref:`ToF depth` example we allow users to quickly configure ToF settings. Th
 
 And these settings are up to the user:
 
-- Optical Correction: It's a process that corrects the optical effect (On -> ToF returns distance represented by Green Line), so it matches :ref:`StereoDepth` depth reporting.
+- Optical Correction: It's a process that corrects the optical effect (On -> ToF returns distance represented by Green Line), so it matches :ref:`StereoDepth` depth reporting. It does rectification and distance to depth conversion (Z-map).
 - Phase Unwrapping - Process that corrects the phase wrapping effect of the ToF sensor. You can set it to [0..5 are optimized]. The higher the number, the longer the ToF range, but it also increases the noise.
     - `0` - Disabled.
     - `1` - Up to 1.5 meters
     - `2` - Up to 3 meters
     - `3` - Up to 4.5 meters
     - `4` - Up to 6 meters
+    - `5` - Up to 7.5 meters (not recommended for most applications)
 
 .. image:: /_static/images/components/tof-optical-correction.png
 

examples/ToF/tof_depth.py

@@ -7,6 +7,9 @@
 
 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()
 
@@ -91,6 +94,10 @@ def create_pipeline():
                 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]
@@ -116,8 +123,7 @@ def create_pipeline():
                 min_depth = 200
                 max_depth = 6000
             depth_colorized = np.interp(depth_map, (min_depth, max_depth), (0, 255)).astype(np.uint8)
-            depth_colorized = cv2.applyColorMap(depth_colorized, cv2.COLORMAP_JET)
-
+            depth_colorized = cv2.applyColorMap(depth_colorized, cvColorMap)
 
             cv2.imshow("Colorized depth", depth_colorized)
             counter += 1