1. A method comprising: receiving at least one raw image captured for a single frame by a time of flight camera, the raw image depicting one or more objects in an environment of the time of flight camera; inputting the raw image to a trained region detector and receiving in response one or more regions of interest in the raw image, a region of interest comprising image elements which are predicted to depict at least part of one of the objects; and computing depth from the one or more regions of interest of the raw image.