VL53L7X get Point Cloud

[Hartm_Sve]

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);

But the points doesn't seem right...

Any help would be appreciated!

[John E KVAM · Accepted solution]

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

[Hartm_Sve]

How do you get the values of Pitch and Yaw?

[RogerM]

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]

Hey @Hartm_Sve 

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

Regards,

Roger

[Hartm_Sve]

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!

[John E KVAM]

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  

[Hartm_Sve]

Hi John,

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

[John E KVAM]

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

[Farris]

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

Thanks