fix: ToF example colorization flicker

[CasualMathEnjoyer]

Summary

• Fixes flickering depth colorization in the ToF examples by mapping colors from the fixed minDepth/maxDepth range instead of each frame's own min/max

Summary by CodeRabbit

• Bug Fixes
  • Stabilized depth-to-color visualization across frames by switching to a consistent, configured logarithmic depth window (min/max) instead of per-frame scaling.
  • Preserved invalid (zero) depth pixels as black in depth visualizations.
• New Features
  • Refreshed the ToF depth alignment/blending example with fixed log-depth mapping, command-line camera selection (left/right), separate aligned-vs-blended views, and a blend-weight trackbar.
  • Increased the default FPS to 30 across the updated ToF Python/C++ examples.

[coderabbitai]

Note

Reviews paused

It looks like this branch is under active development. To avoid overwhelming you with review comments due to an influx of new commits, CodeRabbit has automatically paused this review. You can configure this behavior by changing the reviews.auto_review.auto_pause_after_reviewed_commits setting.

Use the following commands to manage reviews:

• @coderabbitai resume to resume automatic reviews.
• @coderabbitai review to trigger a single review.

Use the checkboxes below for quick actions:

• ▶️ Resume reviews
• 🔍 Trigger review

📝 Walkthrough

Walkthrough

ToF examples now use fixed logarithmic minDepth/maxDepth ranges for color mapping and 30 FPS configuration. The aligned C++ example adds camera selection, host-run synchronization and alignment, and adjustable RGB/depth blending.

Changes

ToF depth visualization

Layer / File(s)	Summary
Fixed log-depth color mapping examples/python/ToF/tof_*.py, examples/cpp/ToF/tof_all_queues.cpp, examples/cpp/ToF/tof_minimal.cpp	Depth values are clipped and mapped using fixed logarithmic bounds instead of per-frame valid-pixel ranges, while invalid-depth handling remains in place.
Aligned synchronization and blending flow examples/cpp/ToF/tof_align.cpp	The example defines fixed depth constants, selects a left or right alignment target, synchronizes RGB with aligned depth, and displays adjustable weighted depth/RGB views.
ToF rate and queue configuration examples/python/ToF/tof_*.py, examples/cpp/ToF/tof_*.cpp	ToF examples use 30 FPS settings, explicit node configuration, and platform-specific output queues; related CLI examples and formatting are updated.

Estimated code review effort: 3 (Moderate) | ~25 minutes

Sequence Diagram(s)

sequenceDiagram
  participant User
  participant tof_align
  participant Alignment
  participant Sync
  participant Windows
  User->>tof_align: Select camera and adjust RGB weight
  tof_align->>Alignment: Run host alignment
  Alignment->>Sync: Send aligned depth
  tof_align->>Sync: Send RGB
  Sync->>tof_align: Return synchronized frames
  tof_align->>Windows: Display depth and blended overlay

Loading

Possibly related PRs

• luxonis/depthai-core#1890: Updates the same ToF Python colorization examples to use fixed logarithmic depth bounds.

Suggested reviewers: jakubfara

Poem

A rabbit hops through colors bright,
Fixed depth bounds keep hues just right.
RGB and depth now blend in view,
Invalid spots stay dark and true.
Hop, hop—ToF shines anew!

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly reflects the main change: fixing ToF example depth colorization flicker.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch fix/tof-examples

---

Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.

❤️ Share

• X
• Mastodon
• Reddit
• LinkedIn

_{Comment @coderabbitai help to get the list of available commands.}

[JakubFara]

Fix also C++ examples

[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@examples/cpp/ToF/tof_align.cpp`:
- Line 11: Align the synchronization threshold units used by the C++ tof_align
example at FPS and the Python tof_align example, using one shared millisecond or
frame-count convention so both retain the same effective margin. Update
examples/cpp/ToF/tof_align.cpp:11 and examples/python/ToF/tof_align.py:17
consistently; adjust the threshold calculations in the synchronization logic
without changing unrelated behavior.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Repository UI

Review profile: ASSERTIVE

Plan: Pro Plus

Run ID: 19fa5544-1358-413e-b860-e40a6fed0eb1

📥 Commits

Reviewing files that changed from the base of the PR and between f8d713c and 079e80e.

📒 Files selected for processing (7)

• examples/cpp/ToF/tof_align.cpp
• examples/cpp/ToF/tof_all_queues.cpp
• examples/cpp/ToF/tof_minimal.cpp
• examples/python/ToF/tof_align.py
• examples/python/ToF/tof_all_queues.py
• examples/python/ToF/tof_minimal.py
• examples/python/ToF/tof_pointcloud.py

📜 Review details

🧰 Additional context used

🧠 Learnings (1)

📚 Learning: 2026-05-28T13:36:26.383Z

Learnt from: moratom
Repo: luxonis/depthai-core PR: 1812
File: examples/cpp/ImageManip/image_manip_remap.cpp:51-52
Timestamp: 2026-05-28T13:36:26.383Z
Learning: In depthai-core example code, do not set `ImageManip::Backend::GPU` unconditionally. The GPU backend is only available on RVC4 (not RVC2). Prefer leaving the backend as the default, or comment out the GPU backend selection and add a clear note explaining it is RVC4-only support (so the example won’t fail or mislead on RVC2).

Applied to files:

• examples/python/ToF/tof_minimal.py
• examples/python/ToF/tof_pointcloud.py
• examples/cpp/ToF/tof_minimal.cpp
• examples/cpp/ToF/tof_all_queues.cpp
• examples/python/ToF/tof_align.py
• examples/python/ToF/tof_all_queues.py
• examples/cpp/ToF/tof_align.cpp

🔇 Additional comments (8)

examples/python/ToF/tof_pointcloud.py (1)

9-9: LGTM!

Also applies to: 21-21, 30-30

examples/cpp/ToF/tof_align.cpp (1)

17-43: LGTM!

Also applies to: 45-51, 53-72, 73-85, 89-103, 104-130

examples/cpp/ToF/tof_all_queues.cpp (1)

2-9: LGTM!

Also applies to: 11-37, 45-68

examples/cpp/ToF/tof_minimal.cpp (1)

6-7: LGTM!

Also applies to: 25-27, 40-45

examples/python/ToF/tof_align.py (2)

5-6: LGTM!

---

24-37: LGTM!

examples/python/ToF/tof_all_queues.py (1)

14-14: LGTM!

Also applies to: 17-30, 40-48, 61-62

examples/python/ToF/tof_minimal.py (1)

14-14: LGTM!

Also applies to: 17-30, 41-44

[aljazkonec1]

@JakubFara up to you to confirm & merge. Thanks.