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# VL53L7X get Point Cloud

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);

But the points doesn't seem right...

Any help would be appreciated!

1 ACCEPTED SOLUTION

Accepted Solutions
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

4 REPLIES 4
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

Associate

How do you get the values of Pitch and Yaw?

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

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