A continuous wave time of flight, CW-TOF, camera operable to determine distances to features (131, 132) in a scene, the CW-TOF camera comprising: a light source configured to transmit light (40, 50) modulated at first and second modulation frequencies f 1 and f 2 to illuminate the scene; a photosensor configured to register amounts of light reflected by features (131, 132) in the scene from the transmitted light (40, 50) modulated at each of the first and second modulation frequencies; and a processor configured to process amounts of reflected light from a k-th feature in the scene registered by the photosensor to: provide wrapped phase shifts for frequencies f 1 and f 2; determine a value for a trial indicator that comprises a linear sum of the wrapped phase shifts for frequencies f 1 and f2; determine wrapping numbers for at least one of the wrapped phase shifts by comparing the determined value of trial indicator and a value for a piecewise constant or linear discretized indicator, DIN, function comprising a linear sum of the theoretical wrapped phase shifts of frequencies f 1 and f 2 respectively as functions of round trip times t R for light from and back to the camera for the k-th feature; determine an unwrapped phase shift of at least one of the wrapped phase shifts for the k-th feature using the wrapping numbers; and determine a distance to the k-th feature in the scene responsive to the unwrapped phase shift of the at least one of the wrapped phase shifts. a light source configured to transmit light (40, 50) modulated at first and second modulation frequencies f 1 and f 2 to illuminate the scene; a photosensor configured to register amounts of light reflected by features (131, 132) in the scene from the transmitted light (40, 50) modulated at each of the first and second modulation frequencies; and a processor configured to process amounts of reflected light from a k-th feature in the scene registered by the photosensor to: provide wrapped phase shifts for frequencies f 1 and f 2; determine a value for a trial indicator that comprises a linear sum of the wrapped phase shifts for frequencies f 1 and f2; determine wrapping numbers for at least one of the wrapped phase shifts by comparing the determined value of trial indicator and a value for a piecewise constant or linear discretized indicator, DIN, function comprising a linear sum of the theoretical wrapped phase shifts of frequencies f 1 and f 2 respectively as functions of round trip times t R for light from and back to the camera for the k-th feature; determine an unwrapped phase shift of at least one of the wrapped phase shifts for the k-th feature using the wrapping numbers; and determine a distance to the k-th feature in the scene responsive to the unwrapped phase shift of the at least one of the wrapped phase shifts. provide wrapped phase shifts for frequencies f 1 and f 2; determine a value for a trial indicator that comprises a linear sum of the wrapped phase shifts for frequencies f 1 and f2; determine wrapping numbers for at least one of the wrapped phase shifts by comparing the determined value of trial indicator and a value for a piecewise constant or linear discretized indicator, DIN, function comprising a linear sum of the theoretical wrapped phase shifts of frequencies f 1 and f 2 respectively as functions of round trip times t R for light from and back to the camera for the k-th feature; determine an unwrapped phase shift of at least one of the wrapped phase shifts for the k-th feature using the wrapping numbers; and determine a distance to the k-th feature in the scene responsive to the unwrapped phase shift of the at least one of the wrapped phase shifts.