A continuous wave time of flight, CW-TOF, camera operable to determine distances to features in a scene , the CW-TOF camera comprising: a light source configured to transmit light 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 in the scene from the transmitted light 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 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 in the scene from the transmitted light 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. <EOS>