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okalachev / vl53l1x_ros

STM VL53L1X rangefinder driver for ROS
BSD 3-Clause "New" or "Revised" License
31 stars 20 forks source link

master branch vs. calibration branch #6

Closed ghost closed 3 years ago

ghost commented 3 years ago

Hi okalachev,

thanks a lot for your amazing package. I use the master-branch for the vl53l1x in my Jetson Xavier, it works very well.

I'm wondering, whether I need to add an extra part about calibration by myself when I use the master-branch? What would be the negative influence if there were no calibration part?

Or should I directly use the calibration-branch instead?

Thank you in advance. Best regards

okalachev commented 3 years ago

Hi!

That's a good question. I refused making calibration branch a long time ago, and I can't remember for now why I did that.

The user manual says:

RefSPAD and crosstalk calibrations have to be performed whenever the customer adds a protective cover glass on top of the VL53L1X module. Offset calibration has to be performed in all situations. It allows reflow and cover glass effects to be compensated.

So since we don't use a protective cover glass, maybe I decided that offset calibration corrections are too minor to perform the calibration process.

Also, I'm not sure I actually tested the code in this branch.

If you could figure out in which situations calibration is actually worth it, and if this calibration code actually works, that would appreciated!