# Conversion of ToF Depth Images to Distance

Source: https://forum.modalai.com/topic/1152/conversion-of-tof-depth-images-to-distance
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl-flight
Posted: 2022-07-25 08:57:27 UTC by VictorT
Replies: 2 · Views: 665

## VictorT · 2022-07-25 08:57:27 UTC

Hi,
As far as I understand, the logger does not yet support the logging of point clouds. I was able to log the ToF depth images. Could those images be converted to distance values? To put it another way, what is the relationship between the grayscale value of a pixel to its distance? 
I am using [this](https://www.modalai.com/products/voxl-dk-tof) ToF sensor on Voxl Flight  
Thanks!

## Reply by Chad Sweet (ModalAI staff) · 2022-07-25 18:09:12 UTC

voxl-logger source code shows support for logging TOF data [here](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-logger/-/blob/master/tools/voxl-logger.cpp#L772)

The tof_data_t is defined [here](https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/include/modal_pipe_interfaces.h) and includes point cloud.

## Reply by VictorT · 2022-07-31 07:08:15 UTC

Great news! 
I had an older version without ToF Logging
Thanks