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What is the framerate for the Basler ToF camera?

The current model of the Basler ToF camera runs at 20 fps in free run.

a. Can I improve on that speed or does it already represent the sensor's limit?

The sensor's limit is 30 fps. If you want to achieve that speed with a Basler ToF camera, however, you'll need a good cooling system. Contact us if you're interested in this.