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3D(ollar) Scanner

A cheap, yet surprisingly good rendition of a 3D scanner

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This project was created on 07/23/2014 and last updated 5 months ago.

After seeing many 3D scanners with incomplete and broken software (except for Their model), I got tired with the other projects! I decided to make my own 3D scanner with a total biill of goods at $2.73 for the lazy susan bracket. The rest was salvaged from Bloominglabs, my hackerspace!

Right now, you can be up and running with your own 3D scanner! I have the hardware design, Arduino sketch, and the Processing programs all avilable.

What makes my project special vs other 3D scanning projects: I solve the pointcloud for any vertical arbitrary position for the camera (horizontal: -pi/2<X<pi/2),(vertical: 0<Y<pi/2)! I know of no other projects that do this. I also do so only requiring to know the center of the platter and the angle of laser line incident to vertical. 

Right now, the Processing skit works! You just have to edit it manually for the correct values. That's why I'm working on a Java version, with as much calibration I can include to make things easier for everyone who just wants to scan.

The Instructables link was the project I started to base mine from! Of course, I knew I'd migrate away from Processing, and even the Arduino platform. However, I include that link as a nod to my personal inspiration! Thank you, cube000 !

  • 4 × 1N4004 Discrete Semiconductors / Diodes and Rectifiers
  • 4 × IRLZ44N Discrete Semiconductors / Power Transistors and MOSFETs
  • 4 × 1Kohm resistor
  • 4 × 2.2Kohm resistor
  • 1 × junky laser Try to find focusable laser module. Shouldnt be much more than $3
  • 1 × arduino uno
  • 1 × potentiometer
  • 1 × Stepper motor (I'm using a 5pin, with 1 pin as common)
  • 1 × Make a gear train with belt - harvest from dead VCR
  • 1 × lazy susan bracket

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Project logs
  • 3D scanner program updates

    5 months ago • 0 comments

    I finally have the bulk of my calibration code written, with only the line selection / saving as the last step. Everything that's touched is calibrated and measured!

    Mainly, what next to do is the line selection / saving , writing the 3D scaning portion, and then updating the Arduino code to reflect a more GCode base.

    From there, I can easily generate a pointcloud file with X, Y, Z, as well as RGB attached to each coordinate. Once I am at this point, I will look into how hard it is to calculate surfaces using PCL.

    I also have to fix errors like my Makefile. I'm unsure how to do that, given this is my first real undertaking of programming. However, documentation online is very good. I'll get it done soon.

  • More progress on QT program

    6 months ago • 0 comments

    I finally have all my settings save in ~/.config/JoshCrawleySoft/ and a user changeable directory for all the camera calibration data!

    Code was pushed to 9/27. I'm now working on the Hough line and circle transforms to auto-detect the laser plane intersection (hough line transform) as well as detection of the circular platter (hough circle transform). I may at a later time, implement color calibration using a flatbed scanner and paint chips from local hardware store. Goal here is lens calibrated, color calibrated, auto detected 3D scanning. The simpler, the better.

    Work is going slower on this project mainly due to 13 credit hours, new job at Indiana University, and my wedding on October 11! However, coding is still taking place for the magic of a cheap and ubiquitous 3D scanner!

  • Major update ; QT program available on GH

    8 months ago • 0 comments

    I messed with Java in displaying Webcam images to do the ful stack with OpenCV. Unfortunately, messing with java is all that I got accomplished, considering there is no unified simple way of opening webcams on Java. I tried JMF, FMJ, Marvin, CIVIL, webcam-capture, and other libraries. The worst crashed my java interpreter. The best displayed any webcam source at 640x480 (argh!).

    So, I decided to see how hard displaying cam data would be with QT and C++... It took me 20 minutes to display an arbitrary resolution! So I decided to implement the GUI and controls in QT, OpenCV, and eventually PCL. 

    On August 4th (yesterday), I made my first major checkin on Github with my new QT program. It has the config screen and video viewing screens. Now, my next big adventure is to work on calibration routines. Then, and only until they are done, will I get to scanning.

    My calibration routines are simple in idea. 

    1. First, calibrate the cameras for lens abberation. That is easily solved by calling in the camera calibration routine. I do this for each camera. 

    2. I determine the center coordinate for the platter. That point (on each picture) is what I consider Origin. That point shouldnt change, so it's the same for each image. I use a hough circle transform, with inspiration from here:

    3. I determine the slope of the laser line on the platter. This angle is the combined angular displacement between horizontal and vertical allignment. I use a hough line transform to get the position of this line, and then calculate angle versus vertical.

    As long as I calculate for each camera its own calibration data, I can combine those pointclouds easily. I will need a calibration function for the second laser line and its position. I'm still thinking how I want to implement it, as my goal here is simplicity in use. 

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Build instructions
  • 1

    1. Find stepper motor, preferrably one with gearing.

  • 2

    2. Hook up circuits and apply Arduino sketch to test stepper motor.

  • 3

    3. Screw down the lazy susan bracket and platter and fix down parts. Secure motor and fix belt to the wheel.

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Wilpe wrote 2 months ago point

so, is this project still alive? I would really like to build on of these scanners my own but I don´t know anything about the software part. So I´m hoping that this project will end with a step by step manual..

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Rebelj12a wrote 5 months ago point
Sorry github link as well.

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Rebelj12a wrote 5 months ago point
Ok not sure if this will help but.... here, Zoneminder mentions the V4L (video for linux) interface. Its a security camera software, however seeing what packages it installs one of those might have drivers and software for accessing webcams. Zoneminder has alot of compatibility although that may be C++.

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Rebelj12a wrote 5 months ago point
Loving this keep up the good work, looking to make something like this although not laser point cloud but its good to know. More comments once I catch up on project progress.

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Neon22 wrote 8 months ago point
you could use python and openCV which has a really nice interface between the two.

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Joshua Crawley wrote 8 months ago point
I found out the hard way (wasting a week and a half) finding out that Java wouldn't work. I tried perhaps 6 libraries trying to get them to open up my max resolution on my nice webcam. At worst, I received crashes and java instability. At the best, I got an HD webcam to show me 640x480...

After messing around with QT5, OpenCV, and Pointcloud library, I was able to acquire any arbitrary resolution my device supports and save it to files. It took me 20 minutes to get up to snuff to QT and C++ and get it running. The picture above with the 2 canvasses of the blue moon painting is a testament to that program able to capture.

Right now, I'm working on a QT C++ application that will do all the calibration and scanning. I'm building in the program also the ability to capture multiple cameras and individual calibration with each of them. And of course, accuracy is greatly wanted, but I'm also wanting color data, so I'm going to be capturing that too.

Once I get the GUI configured the way I like it, and at least the ability to view webcams, then I'll issue the GIT PUSH from my machine to master on github.

edited: Added last sentence of 2nd paragraph.

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Neon22 wrote 8 months ago point
cool. I'll stop forking and enhancing your current github project then :)

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