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VL53L7X get Point Cloud

Hartm_Sve
Associate

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

 


In order to give better visibility on the answered topics, please click on 'Accept as Solution' on the reply which solved your issue or answered your question. It helps the next guy.

View solution in original post

4 REPLIES 4
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

 


In order to give better visibility on the answered topics, please click on 'Accept as Solution' on the reply which solved your issue or answered your question. It helps the next guy.

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