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VL53L7X get Point Cloud

Hartm_Sve
Associate II

Hi, I'm trying to create a 4x4 point cloud using a VL53L7CX-Sensor. I already got the x, y and z, but I am not sure if the values are right. My approach:

*iter_x = static_cast<float>(kMillimeterToMeter * cos(w * fovPerPixel - kFov / 2.0f - DegToRad(90.0f)) * depth);
*iter_y = static_cast<float>(kMillimeterToMeter * sin(h * fovPerPixel - kFov / 2.0f) * depth);
*iter_z = static_cast<float>(kMillimeterToMeter * depth);

Hartm_Sve_0-1712560687133.png

But the points doesn't seem right...

Any help would be appreciated!

 

 

1 ACCEPTED SOLUTION

Accepted Solutions
John E KVAM
ST Employee

It's been posted before. 

VL53L5CX Multi-Zone Sensor get x,y,z of points rel... - STMicroelectronics Community

the L5 and the L8 have the same FoV. So that code is the same.

The L7 has a 60x60 FoV so that code is the same but with different angles.

- john

 


If this or any post solves your issue, please mark them as 'Accept as Solution' It really helps. And if you notice anything wrong do not hesitate to 'Report Inappropriate Content'. Someone will review it.

View solution in original post

9 REPLIES 9
John E KVAM
ST Employee

It's been posted before. 

VL53L5CX Multi-Zone Sensor get x,y,z of points rel... - STMicroelectronics Community

the L5 and the L8 have the same FoV. So that code is the same.

The L7 has a 60x60 FoV so that code is the same but with different angles.

- john

 


If this or any post solves your issue, please mark them as 'Accept as Solution' It really helps. And if you notice anything wrong do not hesitate to 'Report Inappropriate Content'. Someone will review it.

How do you get the values of Pitch and Yaw?

RogerM
ST Employee

Roughly the FoV of each zone in the L5, L7 and L8 devices are as follows:
VL53L5 = 5.25 degrees
VL53L7 = 7.5 degrees
VL53L8 = 5.25 degrees

You can see the 5.25 degrees here matches the values used in the code that John referenced for the L5 part. 
Roger

Roger SHIVELY
ST Employee

Hey @Hartm_Sve 

 

This post has been escalated to the ST Online Support Team for additional assistance.  We'll contact you directly.

 

Regards,

Roger

Hi, i know this topic has been closed for months. But I am trying to reduce my cycle time and i would appreciate if you could send me the Pitch and Yaw for a VL53L7CX.

Thanks!

 

Follow the link in the accepted solution above and you will get to the following table. 

VL53L5CX Multi-Zone Sensor get x,y,z of points rel... - STMicroelectronics Community

It also has code.

#ifdef VL53L5
const double VL53L5_Zone_Pitch8x8[64] = {
		59.00,64.00,67.50,70.00,70.00,67.50,64.00,59.00,
		64.00,70.00,72.90,74.90,74.90,72.90,70.00,64.00,
		67.50,72.90,77.40,80.50,80.50,77.40,72.90,67.50,
		70.00,74.90,80.50,85.75,85.75,80.50,74.90,70.00,
		70.00,74.90,80.50,85.75,85.75,80.50,74.90,70.00,
		67.50,72.90,77.40,80.50,80.50,77.40,72.90,67.50,
		64.00,70.00,72.90,74.90,74.90,72.90,70.00,64.00,
		59.00,64.00,67.50,70.00,70.00,67.50,64.00,59.00
};
#else	//VL53L7
const double VL53L5_Zone_Pitch8x8[64] = {
		52.00,56.00,61.00,64.00,64.00,61.00,56.00,52.00,
		56.00,62.00,67.00,70.00,70.00,67.00,62.00,56.00,
		61.00,67.00,76.00,78.00,78.00,76.00,67.00,61.00,
		64.00,70.00,78.00,84.00,84.00,78.00,70.00,64.00,
		64.00,70.00,78.00,84.00,84.00,78.00,70.00,64.00,
		61.00,67.00,76.00,78.00,78.00,76.00,67.00,61.00,
		56.00,62.00,67.00,70.00,70.00,67.00,62.00,56.00,
		52.00,56.00,61.00,64.00,64.00,61.00,56.00,52.00
};
#endif  

 


If this or any post solves your issue, please mark them as 'Accept as Solution' It really helps. And if you notice anything wrong do not hesitate to 'Report Inappropriate Content'. Someone will review it.

Hi John,

So the yaw for the vl53l7cx is the same as for the vl53l5cx?

No - the yaw has to go through the same the same math transformation as the pitch. Odd no one posted about that. 

But if the L5 has a 43 degree FoV and the L7 has a 60 degree field of view, you can easily increase the numbers in the array. 

- john


If this or any post solves your issue, please mark them as 'Accept as Solution' It really helps. And if you notice anything wrong do not hesitate to 'Report Inappropriate Content'. Someone will review it.

Hi, I know this was closed a while ago, would the code also apply for the VL53L3CX as well.

Thanks