.. _dm0255:

OAK-FFC-pToF
============

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`Buy it on Luxonis shop <https://shop.luxonis.com/collections/beta-store/products/oak-ffc-tof>`__ - :raw-html:`<font color="red"><b>Early Access</b></font>`

.. image:: /_static/images/DM0255/DM0255_front.png

Overview
********

The **OAK-FFC-pToF** is a carrier board for the **Sunny MTP006 pTOF** camera module, and is designed to be compatible with
:ref:`OAK-FFC-3P`, :ref:`OAK-FFC-4P`, and :ref:`DepthAI RPi HAT <DepthAI RPi HAT Baseboard>` baseboards.
It's currenty in **beta stage** so you have to use a custom version of the depthai library to communicate with this FFC module,
more information below at *Getting started*.

Getting started
***************

To get started with OAK-FFC-pToF, you first need to install the correct version: checkout to branch :code:`tof_rgb_mono` in depthai-python and execute
:code:`python3 examples/install_requirements.py`.
After installing the library, you can run the `cam_test.py <https://github.com/luxonis/depthai-python/blob/tof_rgb_mono/tests/cam_test.py>`__
demo by executing :code:`python3 tests/cam_test.py`.

It shows colorized depth by default, and you can add :code:`-tofcm` argument for the pixels to show a value in centimeters
(capped to 255). This allows you to easily check depth from an OpenCV window, as it's displayed in the bottom-left corner when hovering with the mouse.

The :code:`out` output of the ToF node sends `ImgFrame <https://docs.luxonis.com/projects/api/en/latest/components/messages/img_frame/>`__
message of 224x172 size, and the data type is U16 - depth in millimeters.

Sensor specifications
*********************

.. list-table::
   :header-rows: 1

   * - Specs
     - Value
   * - ToF Sensor
     - Sunny MTP006
   * - Resolution
     - 224x172
   * - Depth range
     - 20cm - 4m
   * - Depth accuracy
     - 20cm-40cm: Error below 2%, 40cm-4m: Error below 1%
   * - DFOV
     - 70.7° ± 5%
   * - HFOV
     - 55.9° ± 5%
   * - VFOV
     - 44.0° ± 5%
   * - VSCEL wavelength
     - 940nm
   * - Operating temperature
     - -20°C to ~85°C
   * - EFL
     - 2.85mm ± 5%
   * - F Number
     - 1.1
   * - TV distortion
     - < 7.3%

Sensor demo
***********

.. image:: /_static/images/DM0255/demo.gif
  :target: https://youtu.be/4keVBYIuz6Q


Board Layout and Dimensions
***************************

.. image:: /_static/images/DM0255/DM0255_front_dimensions.png

Key features
************

- 26 pin 0.5mm FFC interconnect to baseboard
- 30 pin interface to MTP006 camera module
- 2-lane MIPI
- Aux/Control signals to camera module
- 3.3V power input via FFC
- On-board power generation for camera module
- Design files produced with Altium Designer 21
- FFC connector 0.5mm pitch,

3D Models
*********

- Board STEP files `here <https://github.com/luxonis/depthai-hardware/tree/master/DM0255_DepthAI_pTOF_Camera/3D_Models>`__

Files
*****

* `Altium Design Files <https://github.com/luxonis/depthai-hardware/tree/master/DM0255_DepthAI_pTOF_Camera/PCB>`__
* `Assembly Drawing <https://github.com/luxonis/depthai-hardware/blob/master/DM0255_DepthAI_pTOF_Camera/Docs/Assembly%20Drawing%20PDF/Production.PDF>`__
* `Assembly Outputs <https://github.com/luxonis/depthai-hardware/tree/master/DM0255_DepthAI_pTOF_Camera/Docs/Assembly%20Outputs>`__
* `Fabrication Drawing <https://github.com/luxonis/depthai-hardware/blob/master/DM0255_DepthAI_pTOF_Camera/Docs/Fabrication%20Drawing%20PDF/Production.PDF>`__
* `Fabrication Outputs <https://github.com/luxonis/depthai-hardware/tree/master/DM0255_DepthAI_pTOF_Camera/Docs/Fabrication%20Outputs>`__
* `Schematic <https://github.com/luxonis/depthai-hardware/blob/master/DM0255_DepthAI_pTOF_Camera/Docs/Schematic%20PDF/Production.PDF>`__


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