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Home RGB + iToF depth build: noise reduced but straight walls still bow 12–14 cm

A Reddit user built a home RGB + iToF depth setup using a 320×240 epc660-class iToF engineering sample, a fixed Pi camera, and Ouster reference scans. After raising exposure from 500 to 2,000 µs, filtered jitter dropped from 65 to 6 mm and raw jitter from 85 to 28 mm, but straight walls still bow 12–14 cm, and three modulation frequencies report 4.14, 3.92, and 3.97 m for the same wall.

Part of the event: iToF engineering prototype debugging: jitter reduced to 6 mm but straight walls still bend 12–14 cm

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