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

- Source: Reddit r/robotics
- Published: 2026-10-21T18:01:31.000Z
- RoboHot: https://robohot.news/en/items/y6zou67tn4bipjn80j79103oc
- Original: https://www.reddit.com/r/robotics/comments/1xbuhia/homelab_rgb_depth_build_lower_itof_noise_but_a/

## Summary

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.