humorbei / 3d_line_laser_scanner

3D scanner build from a raspberry pi zero with camera, two line laser pointers and a rotating plattform

3D_line_laser_scanner

3D scanner build from a raspberry pi zero with camera, 2x line laser pointers and a rotating plattform.

Calibration must be improved, since the 3d scan is quite inaccurate.

steps to use this 3D scanner

1. print the 3D files and cut some rods to size

2. assemble it with a nema17 motor, a raspberry pi (zero w) and two line lasers

GPIO5 #left laser
GPIO6 #right laser
GPIO13 #button
GPIO22, #stepper dir
GPIO23, #stepper step
GPIO24, #stepper enable

3. take calibration images while holding a printed-out image of "/rectification/calibration_reference.png" OPTIONAL: calibrate the camera using "/rectification/1_find_corners.py" and "/rectification/2_calibration.py"

4. Then you have two options:

• execute "full_scan.py" to take images and compute point-cloud on the raspberry pi at once (slooow). For this "/rectification/mapx.npy", "/rectification/mapy.npy" and "3D_scan.py" have to be transferred to /home/localuser/3Dscanner/ and make the python-script executable by "sudo chmod +x /home/localuser/3Dscanner/full_scan.py".
• execute "take_images.py" to only take images on your pi, then transfer the images to a faster pc and execute "process_images.py" to compute the point-cloud. For this "take_images.py" have to be transferred to /home/localuser/3Dscanner/ and make the python-script executable by "sudo chmod +x /home/localuser/3Dscanner/take_images.py".

5. run scanning by pressing the button (3x times in total) and following these steps after each consequent press: -calibration: place a screen on the plattform and make shure both line lasers are vertical and meet at the center of the plattform -setting offset: takes (automatic) a picture of the two lines to set the offsets, as both lasers are off remove the screen -start scanning: executes the scanning