Time-of-Flight Sensor into a 3D Scanner

This project implements a real-time 3D scanning system using an ESP32, a VL53L5CX Time-of-Flight (ToF) sensor, and a BNO08X inertial measurement unit (IMU). The ToF sensor captures depth measurements across multiple zones, while the IMU continuously tracks the device's orientation during movement. The ESP32 combines these data streams and transmits them to a desktop application, where they are rendered as an interactive 3D point cloud. As the device is moved around an environment, individual depth frames are fused together to gradually reconstruct the surrounding scene. This project demonstrates depth sensing, sensor fusion, real-time data streaming, 3D visualization, and practical applications of embedded systems in robotics, mapping, and spatial perception.