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Tutorial T3 — Mapper: Fuse ToF + Pose into Points

Purpose​

Fuse VL53L5CX range grid with IMU orientation to generate a stream of 3D points.

Core idea​

  • Each ToF cell corresponds to a ray in the sensor frame.
  • Use orientation (and optional position assumption) to rotate rays into a world frame.
  • Emit points x,y,z,intensity,frame_id,timestamp.

Deliverables​

  • Repo: tutorial-esp32-room-mapper-t3/
  • Live stream of point packets over UART (or UDP if Wi-Fi is used)

Acceptance criteria​

  • When sweeping across a wall, points form a plane in viewer.
  • Drift is documented (especially yaw drift).

Evidence pack​

  • Viewer screenshot with a wall plane.