Sub 30$ 3D laser scanner Open harware/software project

prusaprinters

<p>*update<br/> French calibration available on github <a href="https://github.com/Sardau/Sardauscan">https://github.com/Sardau/Sardauscan</a></p> <p><em>update<br/> <a href="http://www.instructables.com/id/Build-a-30-laser/">http://www.instructables.com/id/Build-a-30-laser/</a><br/> i've adden a instructable to explain how to build, calibrate and use the sardauscan.</em></p> <p><em>update: V0.0.0.4 out : (much) faster better stronger</em></p> <h3>Sardauscan is a open source Sub 30$ 3D laser scanner that you can easely print yourself.</h3> <h4>Even 12$ if you already have a hercule HD twist. I think we can say it's "the cheaper 3d scaner on earth"</h4> <p>you just need a arduino nano, 1 to 4 line laser and a micro geared stepper (28BYJ-48)<br/> (see instruction for BOM)</p> <p>no external power needed. just 2 free usb port on your pc : one for the webcam the other for the rest.</p> <p><strong><em>UPDATE</em></strong><br/> I’m proud to announce you the release of the open source Software for the “cheapest 3d scanner on earth” the 30$ DIY Sardauscan.</p> <p>The software Is written in C# and allow you to compose your Scan task by drag and drop.</p> <p>Recommended Process is composed from these scan<br/> “Scan” =&gt; “IrQ filter” =&gt; “merge laser” (if you use more than one laser) =&gt; “Build Mesh by interpolation “ =&gt; “Save STL”.</p> <p>But if you are not satisfied with the build-in processing task, or if you prefer use another heavy but powerful software to work with your point clouds like meslab or other,</p> <p>you can just “Scan” =&gt; “Save Ply” and import them in your preferred application.</p> <p>While the software come with a building support of the Sardauscan hardware, and usb camera. You can easely write your own Hardware proxy via plugins.</p> <p>You can event build your own task to insert in your scan process.</p> <p>Source Code : <a href="https://github.com/Sardau/Sardauscan">https://github.com/Sardau/Sardauscan</a></p> <p>real time scan video : <a href="https://www.youtube.com/watch?v=TPb-gEVkBYo">https://www.youtube.com/watch?v=TPb-gEVkBYo</a><br/> postprocessing start @ 1:50, if you want to see the speed of post processing (smooth, mesh reconstruct, and stl generation )</p> <p>French discussion : <a href="http://talk.smartfri.odns.fr/index.php?topic=368.0">http://talk.smartfri.odns.fr/index.php?topic=368.0</a></p> <h3>Print instructions</h3><p>Unassociated tags: #EngineeringProject, #MakerEdChallenge2</p> <h3>Category: 3D Printing Summary</h3> <p>*update<br/> French calibration available on github <a href="https://github.com/Sardau/Sardauscan">https://github.com/Sardau/Sardauscan</a></p> <p><em>update<br/> <a href="http://www.instructables.com/id/Build-a-30-laser/">http://www.instructables.com/id/Build-a-30-laser/</a><br/> i've adden a instructable to explain how to build, calibrate and use the sardauscan.</em></p> <p><em>update: V0.0.0.4 out : (much) faster better stronger</em></p> <h3>Sardauscan is a open source Sub 30$ 3D laser scanner that you can easely print yourself.</h3> <h4>Even 12$ if you already have a hercule HD twist. I think we can say it's "the cheaper 3d scaner on earth"</h4> <p>you just need a arduino nano, 1 to 4 line laser and a micro geared stepper (28BYJ-48)<br/> (see instruction for BOM)</p> <p>no external power needed. just 2 free usb port on your pc : one for the webcam the other for the rest.</p> <p><strong><em>UPDATE</em></strong><br/> I’m proud to announce you the release of the open source Software for the “cheapest 3d scanner on earth” the 30$ DIY Sardauscan.</p> <p>The software Is written in C# and allow you to compose your Scan task by drag and drop.</p> <p>Recommended Process is composed from these scan<br/> “Scan” =&gt; “IrQ filter” =&gt; “merge laser” (if you use more than one laser) =&gt; “Build Mesh by interpolation “ =&gt; “Save STL”.</p> <p>But if you are not satisfied with the build-in processing task, or if you prefer use another heavy but powerful software to work with your point clouds like meslab or other,</p> <p>you can just “Scan” =&gt; “Save Ply” and import them in your preferred application.</p> <p>While the software come with a building support of the Sardauscan hardware, and usb camera. You can easely write your own Hardware proxy via plugins.</p> <p>You can event build your own task to insert in your scan process.</p> <p>Source Code : <a href="https://github.com/Sardau/Sardauscan">https://github.com/Sardau/Sardauscan</a></p> <p>real time scan video : <a href="https://www.youtube.com/watch?v=TPb-gEVkBYo">https://www.youtube.com/watch?v=TPb-gEVkBYo</a><br/> postprocessing start @ 1:50, if you want to see the speed of post processing (smooth, mesh reconstruct, and stl generation )</p> <p>French discussion : <a href="http://talk.smartfri.odns.fr/index.php?topic=368.0">http://talk.smartfri.odns.fr/index.php?topic=368.0</a></p> <h3> Project</h3> <p><strong>Intro</strong></p> <p>Seeing the price tag and limitations of commercial scanners I decided to challenge myself to build my own. It had to be cheaper and easy for anybody to build one using a 3D printer.</p> <p>Result</p> <p>The "Sardauscan" is a laser scanner, comparable to other professional laser scanners but for less than 20-30 times the price, and it has twice the number of lasers.</p> <p>My design principles were:</p> <p>· Keep it simple</p> <p>· Keep it low cost</p> <p>· Make it evolutive</p> <p>· Provide a complete solution</p> <p>The scanner is completely open source and open hardware:</p> <p>· The "Sardauscan" software is written in C# - the full source code is available.</p> <p>· You can write plugins for your own hardware or for your tasks.</p> <p>The software allows you to scan, smooth, build meshes and export to various formats.</p> <p><strong>How does it work?</strong></p> <p>The principle of a 3D laser scanner is simple.</p> <p>· A picture of the object is taken without any lasers firing</p> <p>· One laser is switched on and another picture is taken</p> <p>· Computing the difference between the two images, a laser trace (profile of the object) is obtained</p> <p>· By knowing the positions of the camera and laser you can derive the 3D coordinates of all the points on the profile</p> <p>· You do the same for all the lasers, turn the table and repeat the process until the table has made a full revolution</p> <p>And there you go, you have a complete point cloud representing your object.</p> <p><strong>What do you need ?</strong></p> <p>· A bunch of M3 (16 and 20 mm)</p> <p>· A bunch of M4 (12 and 20 mm)</p> <p>· 1x Arduino nano (Chinese copy, $4) <a href="http://www.befr.ebay.be/itm/NEW-Nano-V3-0-ATmega32">http://www.befr.ebay.be/itm/NEW-Nano-V3-0-ATmega32</a>...</p> <p>· 1x Chinese Stepper Motor (28BYJ-48) and controller (ULN2003) (5$) <a href="http://www.befr.ebay.be/itm/Uln2003-Stepper-Motor">http://www.befr.ebay.be/itm/Uln2003-Stepper-Motor</a>...</p> <p>· 1-4x Line laser 5v ($2.5$ piece) <a href="http://www.befr.ebay.be/itm/251688838898?ssPageNa">http://www.befr.ebay.be/itm/251688838898?ssPageNa</a>...</p> <p>· 1x Hercule HD Twist ($15) <a href="http://www.befr.ebay.be/itm/Hercules-HD-Twist-5-0">http://www.befr.ebay.be/itm/Hercules-HD-Twist-5-0</a>...</p> <p>· 20x20 profile (can be printed : there are plenty of STLs on the net)</p> <p>· optional 3x 4mm roller ($0.3 piece) (624 bearings</p> <p>Total: from $26.5 (1 laser) to $35 (4 lasers)</p> <p>About the 2020 lengths: this is not really important. The only constraint is to have the camera seeing the whole table.</p> <p>For example, here are the lengths I used for my build:</p> <p>· 2 x 140mm</p> <p>· 1 x 120mm</p> <p>· 1 x 250mm</p> <p>What to print</p> <p>All the STL files can be found on Thingiverse:</p> <p><a href="https://www.thingiverse.com/thing:702470">http://www.thingiverse.com/thing:702470</a></p> <p>· 1 x arm_left.stl</p> <p>· 1x box.stl</p> <p>· 1x box_door.stl</p> <p>· 1x box_arduino_clamp.stl</p> <p>· 1x arm_right.stl</p> <p>· 1x CORNER.stl</p> <p>· 1x MOTOR_MOUNT.stl</p> <p>· 1 to 4 x laser_holder.stl</p> <p>· 1X Camera_HOLDER_LOWER_PART.stl</p> <p>· 1x Camera_HOLDER_UPPER_PART.stl</p> <p>· 1x center_axe_MINIMAL.stl OR 1x table_AXLE.stl (OPTIONAL)</p> <p>· 3x roller_baseV2.stl</p> <p>· you can print 12x M4_tslot_nut.stl if you use a 20x20 profile and you don't have any</p> <p>Remarks:</p> <p>· The 2020 profiles are just here for ease of use. You can use whatever you have: wood, metal, …</p> <p>· If you want to use another camera, you will need to adapt “Camera_HOLDER_UPPER_PART” to match it</p> <p>· The bearing are optional. They are only necessary if you want to scan heavy objects or don't have a perfectly flat table</p> <p>· The build is simple, just look at the pictures. You can't do it wrong</p> <p>· Put the motor at the center, place the 3 profiles around and screw them. Place the corner, screw, put the arms, screw, …</p> <p>· There is a hole for each screw, you can’t get it wrong.</p> <p>· For the wiring, please refer to the diagram.</p> <p><strong>Firmware</strong></p> <p>At this point all you need to complete the hardware part is to upload the firmware to the Arduino. You will need the Arduino IDE or another sketch editor.</p> <p>The firmware (a regular Arduino sketch) is available at: <a href="https://github.com/Sardau/Sardauscan">https://github.com/Sardau/Sardauscan</a></p> <p>You will also need to install the AccelStepper library in order to compile it: <a href="https://github.com/adafruit/AccelStepper">https://github.com/adafruit/AccelStepper</a></p> <p>· Edit configuration.h to match your wiring.</p> <p>· Upload it to your Arduino</p> <p>Now that the hardware is ready, test it!</p> <p>· Connect to your Arduino with your IDE</p> <p>· Type “Sardauscan” – the Arduino should answer “yes”</p> <p>· Try the stepper: type “T R 100” – your table should turn 100 steps</p> <p>· Try the laser: type “L 0 1” for the first (0) laser to fire (1) – the first laser should light up</p> <p>If something doesn’t work, check your wiring and configuration.h – it should match.</p> <p><strong>Software and Calibration</strong></p> <p>To install the Sardauscan software, go to github (see link above) and download the latest binary version. Extract it and launch the executable.</p> <p>In the main interface, you will see 3 red icons – one for the table, one for the lasers and one for the camera. Click on them to connect to the hardware (right click to disconnect).</p> <p>If you use the standard Sardauscan firmware the table and the laser switches are linked.</p> <p>Now that the hardware is ready and the software connects to it, here comes the tricky part: calibration.</p> <p>The calibration takes 3 steps:</p> <p>· A manual calibration</p> <p>· The build dimension</p> <p>· The "Adjust" correction</p> <p>Be careful during the calibration: the result quality directly depends on it.</p> <p>To calibrate:</p> <p>· Click the target icon and the ‘Physical’ button.</p> <p>· Move your camera so that the vertical in the preview window crosses the exact center of the table.</p> <p>· Click on the center of the table in the preview window. The lines will help you align the calibration object.</p> <p>· Place the calibration object (see STL on Thingiverse) on the table, flat area facing the camera – use the horizontal line for help.</p> <p>· Click on the first laser icon on top to light up the first laser. Align the laser line to the vertical line in the preview window.</p> <p>· Repeat for all your lasers.</p> <p>Build dimension:</p> <p>· Click on the “build dimension” button and enter your build dimension.</p> <p>Adjust:</p> <p>· As a perfect calibration is difficult to achieve, especially with a higher number of lasers, the correction step will help you correct the previous errors.</p> <p>· Place your calibration object on the center of the table and click “quick scan”.</p> <p>· When the scan is completed you will see a top view of it. Each color corresponds to a different laser.</p> <p>· The goal is to superimpose as best as possible the different laser scans: select a laser in the combo box and rotate (left mouse button), scale (middle mouse button) and pan (right mouse button) the scan.</p> <p>Congratulations , your calibration is done!</p> <p><strong>Dafuq is this interface ?</strong></p> <p>To be evolutive the software is designed around tasks and processes.</p> <p>When you open the program you will see to the left a list of available tasks – you can drag them to the process list on the right then press the ‘Play’ icon at the bottom.</p> <p>Here is a non-exhaustive list of the available tasks:</p> <p>· Scan: scan an object</p> <p>· Grab Pictures: take pictures of the object for use in a photogrammetry program</p> <p>· Filter IQR: remove noise from the data with an interquartile range filter</p> <p>· Filter median: remove noise from the data with a median filter</p> <p>· Angle: merge laser scan by angle – smooth the scan and filter noise</p> <p>· Bezier: smooth the data by fitting a Bezier curve</p> <p>· Surface: smooth the data with a Laplace surface smooth</p> <p>· Save ply: save a PLY file to use with MeshLab or any other point cloud software</p> <p>· Save stl: save the STL file</p> <p><strong>Developer Corner : Evolution ? Own hardware ? Plugins ?</strong></p> <p>As mentionned the software is not linked to the Sardauscan build – it is made to be evolutive.</p> <p>You can do almost whatever you want with plugins.</p> <p>You have a magical algorithm?</p> <p>Do a plugin for it !</p> <p>You have a custom image acquisition hardware ?</p> <p>Do a plugin !</p> <p>You want to use your own hardware firmware for the table or the laser ?</p> <p>Do a plugin !</p> <p>You can look at the github repository, there are some plugins samples. It is really simple to code.</p> <p>To use the plugin, just copy then in the "plugin" subdirectory.</p> <p>Happy scanning !</p>