SDK Overview

Welcome to the SDK document of the SmartToF module. Through this document, you can :

  • Know SDK Components

  • Use SmartToF series modules

  • Use the tools in the SDK

  • Secondary develop based on SmartToF module

SmartToF series module introduction

SmartToF TC(QVGA) and TS(VGA) series modules are developed by Data Miracle which using industry-leading sensor chip, with high measurement accuracy, Strong anti-interference ability, compact appearance and other advantages. The module can be used in emerging technologies such as accurate people flow statistics, logistics storage, gesture recognition, robot obstacle avoidance, and vehicle control.

SDK supported modules table:






Hardware version





Software version





Agent&Bootloader version





SmarToF SDK Introduction

SmartToF SDK is a software toolkit developed with SmartToF series modules,supports platforms such as windows、linux、Android and so on,SDK’s components like follows:


Core Library Main Function Specification

Sensor control & Depth calculation

Sensor register read/write


Depth mode

High precision mode (8xQuads, for TC-S series) Normal mode (4xQuads) Motion reduction mode (2xQuads)

Modulation frequency

TC-S series: single frequency mode: 10~100MHz in 1MHz resolution dual frequency mode: any frequency pair between 10~100MHz TC-E series: Fixed frequency 12MHz, 24MHz, 36MHz

Exposure time

TC-S series : Single exposure time: 1~1000us in 1us resolution Dual exposure time(HDR): any exposure time beween 1~1000us TC-E series: Single exposure time: 1~1500us in 1us resolution Dual exposure time(HDR): any exposure time beween 1~1500us




TC-S series 1x1,2x2,4x4,8x8; TC-E series:1x1,2x2,2x4


Global linear compensation

non-uniform pixel compensation

Cyclical error compensation

Frequency drift compensation

Temperature compensation

Lens calibration

Ambient light compensation

3D image processing

Spatial filters

Fly noise filter

Fill hole filter

Fast bilateral filter

Fast median filter

Confidence/Amplitude filter

Temporal filters

hysteresis noise filter

IIR low pass filter

Pesudo-color convertion

60+ color palette

Depth image to RGB24/BGR24/RGBA32/BGRA32

IR image to RGB24/GRAY8

Histogram-equalization on depth and IR Pesudo-color image

Compression& decompression

support lossless compression/decompression

Point cloud

Support depth image to point colud convertion with each point in (x,y,z), (x,y,z,d), (x,y,z,IR)

Recording & replaying


Support OpenNI compatible ONI file format.

Support record all parameter setting during capturing

Support embedded calibration data inside record file


Replay file is emulated as SmartTOF Virtual device. All image processing function can be changed on-the-fly using replay files

Multiple platform & Multiple dev language

  • All language extensions have 100% C-API coverage

  • All tools and samples are cross-platform


High performance

  • Key algorithms are optimized under PC, ARM and DSP platforms with SSE2, ARM-NEON and DSP instructions.


SmarToFViewer Introduction

  • Use case

    • Camera evaluation

    • Application scenario recording

  • Main Function

    • Depth/IR/PCL image visualization

    • Recording and replay

    • Camera parameter adjusting


      • HDR

      • FPS&Frequency

    • Image filter enable/disable

    • 3D pointcloud view

../_images/sdk-smarttofviewer1.jpg ../_images/sdk-smarttofviewer2.jpg

Commandline tool Introduction

  • Use case

    • Camera diagnostic、testing、benchmarking、calibration

    • Manufacturing auto testing

  • Main Function

    • Device enumeration

    • Device firmware upgrade

    • Device parameter set/get

    • Low-level register read/write

    • Depth/IR/PCL image capturing and saving

  • Working mode

    • Shell argument mode

    • Shell interactive mode

    • Scripts mode


SDK document introduction

This SDK document description is continuously written, corrected, and modified by Digital Trace staff. The document consists of four main sections. The content of each part is allocated according to the actual situation. The content of each section is relatively intuitive.

  • Introduction introduced overview of SmartToF module and SDK, list the SDK’s related resources including SmartToF modules Basic development process

  • Quick Start provided methods on how to setup develop platform and usage of some tools.

  • Tutorial shows usage of SDK samples in different platform, including some pictures, codes in sample is helpful for secondary development.

  • Reference provided introduction of C API lib、python、Java、C#、ros and Android extension,if you want to get more detailed information during secondary development, please read this chapter carefully.