xuhg-zjcn / sh-3dscaner

DIY laser 3D scanner with Android smartphone

SH-3DScaner 3D扫描仪

DIY Laser 3D Scaner, request list:

name	para	description
Linear laser diode	5mW	3V Red-650nm D=9mm
5V step motor	28BYJ-48	4096 pulse a circle
MCU	STM32F1	request USB support
Android smartphone	Honor 8C	Camera and process image
special phone case	3D Print	fixed step motor and PCB on phone
linker	3D Print	for laser diode and step motor
microUSB plug	optional	USB OTG communication, power support
PCB and components	optional	power EMI filter, step motor driver, LD driver
9-DoF IMU	optional	my phone have no Gyroscope

some problems

there is without STM32 Code and 3D print model, I'll make these a few days later.
I'm using Honor 8C phone, the 3D print phone case maybe can't fit your phone
I'm can not draw PCB, so I use buyed ready-made boards
暂时没有STM32代码和3D打印模型，几天后我再做。我使用的是荣耀8C手机，手机壳的3D打印模型可能不适合你。 我不会画PCB，暂时用网上买到的现成的板和模块

the process pseudo-code: 流程伪代码(Python)

while(!Get_all_line_in_camera_scope):
    if(i%num == 0):             #turn-off LD to calibration img0, every some frames
        img0 = cam.get_image()
        continue
    LD.light_pulse()            #duty 10-30%, make higher SNR, backgroud darkness
    img1 = cam.get_image()      #sync shutter during pulse, shutter time 1/300-1/100s
    step_motor.run_a_step()
    img2 = img1 - img0          #use IMU and Optflow to align image
    img0 = filter(img1)         #update img0, after filter
    line = get_line(img2)       #track pixel
    distance=calc(line)         #calc distance between object and camera
    i+=1
reconstruction_3D_model()

the LD duty can't too little, because image sensor is rolling shutter. if flash time less, the valid image window will narrow.
激光二极管的占空比不能太小，因为图像传感器是卷帘快门。如果闪光时间太短，有效的图像窗口会变窄。