The Cheapest and Worst DIY 3D-Scanner in the World [ESP8266, ToF, WiFi, WebGL]
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- Опубликовано: 4 окт 2024
- This mini project shows an attempt to built a cheap areal 3D scanner. The two attempts use an ultrasonic transducer and a time-of-flight sensor.
Part 2:
• Worst DIY 3D Scanner i...
Code and 3d pritner models:
github.com/bit...
Project page:
bitluni.net/3d-...
Links to the cheep parts including shipping (affiliate):
Wemos d1 mini ESP8266:
$2.58 s.click.aliexpr...
Servo SG90:
$1.09 s.click.aliexpr...
$12.61 10x s.click.aliexpr...
Ultrasonic Sensor JSN-SR04T:
$7.57 s.click.aliexpr...
Time-of-flight sensor VL53L0X:
$3.68 s.click.aliexpr...
Tripod nuts:
$1.46 10x s.click.aliexpr...
Laser Distance Meter:
$13.88 s.click.aliexpr...
plz share :-)
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Twitter: @bitluni
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![Worst DIY 3D Scanner in the World - Part 2 [Arduino, ESP8266, Lidar, WiFI, WebGL]](http://i.ytimg.com/vi/mRR7VgC_DWg/mqdefault.jpg)
I totally respect that you posted the video anyways after the project failed.
what can you do :-D .. i was curious if it works at all ... if it would it would have been great... but it's also cool to let the people suggest what to try next
It is learning
Great video BTW!
Great
@@bitluni hayhaha dudes i would love top colab XD
IDEA: use two axis, one rotational (X; polar) and other axial (Y; Cartesian). Put the object in the rotational axis and move the sensor up/down for each complete rotation (or full Y scale, then increment rotation on object/X). This is a more traditional approach IF you want to scan an (small) object, not an open space. You'll be limited by the scanner design dimensions. Also, you probably can't use servos unless you mod them to allow full rotation - maybe you can use salvaged steppers from 2D printers/scanners? To speed things up, you can have an array of equally spaced sensors on Y axis (costly... or... try the two different sensors you already have, at the same time, if the ESP can manage it...).
using blender as CAD, like a true legend
Great starting point for a scanner.
It is scary how smart you are sir. Mad scientist smart.
Andreas Spiess did some videos about distance sensors, might be interesting.
Actually good. Keen to see follow-up project. Thanks for doing what you do.
Nice job! Always good seeing problems as well as solutions. The usual way to get those nuts in is to touch them with a soldering iron so they melt-fit into the plastic.
I absolutely 100% feel you at 5:50 when you stay perfectly still so you don't vibrate your scanner for 10 minutes. Cool build either way, I bet this could be made a ton better in post with the right 'algorithms', whatever those are!
I would take two TOF modules, preferably better ones, and mount them so that you get a denser cloud at far distances and some parallax effect when closer. I am not sure if using two gimbals or just mounting both sensors on a stick would be better. I think either would help quite a bit, as would smaller steps with the servos. I think the ultrasonic sensor is getting swamped by noise. To use it I think you will either need to take a lot of readings at each position or use a much more powerful transmit transducer and/or a receive transducer with better sensitivity and overload characteristics. You also need some logic to weight each reading with it's signal to noise ratio. It can be done, but I suspect that the laser will work better for most situations.
Watching your video is always a great fun, especially during a weekend after a busy week. Thanks for the great videos.
BTW, I think I will do 3D reconstruction using stereo camerca using 2 esp-cam modules. Computer vision methods are known to provide better resolution, and if you don't want to do real-time reconstruction, use the processing power on those 2 esp-cam module is definitely sufficient.
I think the ultra sonic mapped results should be viewed from the bottom inside. Another option is to add another statically connected, secondary camera a specified distance from the primary, and run each one taking turns capturing as the whole thing moves (doubling the amount of time it takes but at least having double the 3D data). I think stereo vision is a smart way to go.. on another note, maybe laser holds more promise.. because different materials absorb different sounds better.. but for light-stealth operations.. ultrasonic is not a bad idea. great contribution!
Uh, the ToF rangefinder VL53L0X isn't very good either. I mean it fires its laser at a 35° spread. and then collects the reflected signal at 25° angle... looks like it needs a collimating lens on the laser. The detection distance is the distance of the white-grey-ish objects covering the 25° field of view.
Andreas Spiess made a sensor comparison not too long ago that might be valuable to your goal. See "#203 Best LIDAR Sensors for Makers" here on the Tubes.
David Cambridge made a LIDAR scanner a few days ago, see also here on RUclips, that will make you soil your pants, perhaps there's something to be learned from that - well not from the state of your pants, but otherwise. He used a Garmin LIDAR which is kinda not cheap at all.
I wonder if a lens from an optical disk drive could help ToF rangefinder's performance?
Thanks for the hints.. I think I need a camera without the IR filter to get the right focus
Or maybe an IR laser detection card, 10€ from Conrad if you can find the right wavelength type?
just wanted to order but the shipping doubles the price... this ist stupid.. they could send this in a envelope... ill check other sources
Oh, not having a Conrad where you can just walk in is a serious detriment to the hobby. Almost any hobby really. Never moving to a city without a Conrad again.
xD NOPE! loved the video man. your camera is awesome and your humor had me laughing my ass off. I went to bed thinking about starting a 3d scanner, woke up and seen this, and you made my day. thank you so much for the quality you put into your videos, its appreciated.
I think you're on the right track with the laser module, but need to tweak the calibration and resolution. I think the ESP might be a bit underpowered to get decent results in a reasonable amount of time though!
Thanks again, your projects are always very interesting!
Possibly the internal position control of the servos influences the accuracy of the measurement. Try to decouple the measuring circuit from the control as far as possible.
If the servos have screwed up the 5V power supply, a badly decoupled measuring circuit is immensely affected.
You gave me a laugh fixing that tripod nut in, brings back memories when I used the same "tools" as you.
The reading speed may be slow, could work if the scanner moves even slower.
Hahaha poor sensor. Love to hear from you bro. Keep it up.
Hi there. This is a very nice project. I think having a calibration prcedure prior to a full 3D scan, will increase your precision. You may want to do it at 3 points within your ToF range (min, med, max), also for each RGB and then apply the found correction factors. Also, based on your sample colour you can determine some patterns to optimize the measuring result.
I actually like the music you used .
Very interesting! Congratulations!
Please explore this further! Cheap Chinese laser measuring tool hack would be very entertaining and interesting!
Great Job ;) Waiting for next step
Results are what one would expect for the resolution of the scanners/sensors.
I have a few suggestions.
Allow the servo to tilt the sensors much slower
And add a black paper background to the object in a darker room.
Or put the object in a 5 face cube
The speed can be configured. I tried different ones.. I think the spread of the beam is the problem :-(
Great project, I would think the time of flight sensor would have been great for this purpose. This is why I was interested in getting one was a cheap lidar, but maybe its too low res? I was reading that the time of flight sensor has a delay and can only take a measurement every so often, so it might be worth looking at the data sheet and making sure you are not plotting data when the sensor is not ready, thus reducing your resolution. Perhaps a slower scan is needed? Maybe multiple passes? Maybe a second sensor to scan on a different timeline and have the sensor spin 360. Thus one sensor is getting hemisphere 1 and the other is scanning hemisphere 2 and then the swap hemispheres. This way you get a 360 view and double the resolution because the timing is offset to scan in between the points that the previous time of flight module missed. This could be doubled in resolution again by having 4 sensors mounted, one for each quadrant.
This IC has a very wide spread pattern, 35° radiation pattern and 25° field of view. It's really not made to detect point distance.
I just read 40ms for a measurement. It's adjustable in the code. The project started as a rough areal scanner, not it's more like developing a high res scanner :-D
When enabling line rendering I can clearly see a shift in either time or pitch of the serve when scanning in different direction.
Thanks for the inspirations
You could perhaps to this:
Make two sets of these 2-axis holders. One has a laser, the other a web-cam. Now you point the laser at the point you want to scan. Set up the camera holder to move so that the laser spot is in the center of the image. Now you can calculate the distance to the point based on the distance between the two holders and the four angles of the servos. Of course the resulting resolution will be limited by the angular resolution of the servos, but you could scan a few times and take the average or something. I assume the mcu that you are using can handle basic image processing.
Try to focus the ultrasomic scanner, so that the cone is as narrow as possible and send a sequence of pulses, only counting recieved pulses for the correct sequence. This should filter out noise from echos and early reflections.
In both cases, take multiple samples (8-16 maybe) for each position, to help reduce bad data. Each sensor may have a particular distance it is good for, so it may need to be closer or further from its target to work. Also... you might need much smaller step sizes on the sevo. Could possibly be done by adding a gear. 20:1 ratio would increase resolution (and also scanning time). Good luck!
Good video. Very interesting. Thanks.
Perhaps more arc in rotation and closer to the object in this scenario? It may provide more detail.
I feel like theres so much focus put on cheap 3d printing but theres much less focus put on 3D scanning which I think is far more essential
Awesome Project!
Hmm i guess the idea of making this project along with two measurement sensors to get a real distance could be the challenge just like what xbox camera does, take a look at image proccessing for distance
I have the kinect here and used it before to do some scans... getting curious what's inside
That Lidar module works way better WITHOUT DAYLIGHT in very dimm light conditions !!
This is a good idea, but I think it is fundamentally flawed because you are using distance sensors that sense a cone around them.
I would suggest using something that could only be interpreted as a "point distance" (if that makes any sense). Something like a coincidence rangefinder - think two lasers and an optic sensor, the lasers rotate until the sensor only detect one point, you the extrapolate the distance - would be much more precise.
Keep it up!
Make an object turning plate and record it as it turns to get a 3d object. That way you don't need to change the time of light sensor because having the lower range means it doesn't capture the backgrounds. Then you could try printing your captured 3d object
At least, it's a good start.
What about going a bit like lidars do, with a rotating scanner, you can embark the ESP8266 on the rotating part and comm over Wifi.
That way you can increase the resolution to whatever you want, as you just take the measurement when (at the rotating angle) you fancy.
I don't have one of these cheap lidars yet. BUT I would take it and rotate the complete lidar around an additional axis and we would end up with a complete sphere in no time
I think you need three things, first decrease the speed and second decrease the step (as lower as you can), and finally the most difficult, make thinner the radiation lobe.
Did you think in do it with RF? may be with the 433MHz transmitter and receiver.. it should "easy" because you can design the antenna to point better the lobe..
I can help you if you want :)
My kingdom for a flathead screwdriver ;)
You'll need a fairly big flathead screwdriver.
my biggest one didn't work but my square ruler did finally the job. the day after I found the specific tool in my photo bag *facepalm*
bitluni's lab that is better than what I usually deal with: can’t find the right tool, in desperation I buy one, only to find the tool a week later in a place I had checked twice before :)
That's amazing Pro
My greeting to you
It would be nice to see like three or four of them and a combined point cloud that could maybe used to create a bunch of triangles resulting in a 3d solid.
I probably will optimize the distribution of the points by scanning a subdivision of a geosphere. the mesh can be prepared already. the vertices just need to be scaled by the distance field
I would hazard a guess, that the cheap servos that you are using are not giving accurate enough positioning information, in order to create accurate scanning.
Next time, thread the nut onto a bolt all the way (or use several nuts). Then drive the bolt with a socket wrench. When the nut is seated, slowly back it out leaving the nut behind.
Amazing and inspiring
That's nice. Did you find better alternatives today?
This is success and inspiring. Thank you.
Hey friend, You are making a great job! This is also great project. But as I understand the situation, this equipment has a good range resolution but very low angel resolution. As far point is as low resolution in x,yz. In order to improve the measurment you may try using two sensors, like binocular view.
Then fuse the measurments.
But first you need to calibrate the sensors to each other using, calibation target on azimuth and elevation.
If you'll find my idia worth your attention and you would like more information, let me know
The center of rotation needs to be the start of laser light
Maybe try using 3-5 scans to one point and use the average of them.
Could you make a box that scans all angles of item you put inside the box at high precision with multiple passes? Detailed 3d models of small objects like jewelry would be really useful!
Haven't read all comments, but precariously I've seen TOF-scanners that take something like 100 measurements of each point, and calculate an average.
Don't know if you already do this though...
Verry interesting !! Pls more on 3d scan
On the sound gadget, maybe the software is not interpreting the echo, it's just interpreting the limits of the transmission. On the laser one, there just isn't enough detail.
we must focus the beam somehow
There are some galvo lasers on aliexpress sold in a kit for scanning ($159usd). I don’t know how good they are or what you would use for firmware but the idea behind a glavo and one that is a dual head in 1 seems to be ideal. 20kw I believe the power of you look it up. Thinking about buying it myself and figured if anything I could use it for engraving. If it can be figured to do both you could setup on a 3D printer, scan and engrave back to back. I talked with seller and they said it will work for either of those as well a laser light show ;-)
It is amazing what you do! Thanks you for sharing!!!!
Great topic, thanks 👍
Maybe now would be great cheap option to use esp eye with automated photogrammetry.
great project. I am wondering whether a raspberry pi and webcam would yield better results.
Try to use one of those modules with two "tubes" inside, like HC-SR04.
You need to combine camera spot to make photogrammetry
maybe you could take a photo and do some edge detection/contrast calculations to determine areas of interest and adjust scan speed to get better results?
Calculation could be done on a differrent device which would then send back pich/yaw points of predicted edges. What about a second sensor to get an average distance from 2 points?
Then you have an issue of correlating the photograph with the motor control, which faces a lot of precision issues... if you had a very slow but very good scanner and wanted to scan faster, there's many ways to do that, like you can do edge detection and progressive refinement straight on the distance metrics. You can do a first quick pass on each line and sample the second one sparsely just where needed, and you only need to maintain data from one prior line for vertical edge detection.
Unfortunately both of the range sensors tried have a very large field of view, which is why you're not going to get a proper scan out of them, at least not without modifying them further.
I had something similar in mind to speed up the scans. A first pass takes measurements every 15° and if there is a hit it scans the areas in between.
Fusion from multiple scanning origins could refine it but the calibration will be a nightmare.. using optical markers is getting too sophisticated.. but I'll think about it
There is a reason the kinect has multiple sensors... not that that makes it practical to do yourself.
The Kinect is fundamentally quite simple and has two main elements for 3D reconstruction - an infrared camera and a laser-based grid dot projector. Each group of a small number of dots forms a pattern that only occurs a few times and at sufficient distances in the projection, so for every group of dots, it can be associated uniquely to the location in the projection, and displacement of the group in the image as well as possibly the dot spread determine the distance. Of course whether you count a camera and such emitter as one element each or as a million elements corresponding to the number of pixels/dots, is a matter of definition. But then, it has to do the complete reconstruction 20 or 30 times a second, while Luni seems to be happy enough with one reconstruction a day, so one sensor and one emitter seems par for the course.
There's also a usual normal webcam in there, but it does nothing for 3D reconstruction.
Siana Gearz Interesting. I had assumed the second sensor on the kinect was for a stereoscopic measurement. So it is actually more similar to certain hand held grid projecting scanners. I can't remember but I was pretty sure there were a few hand held stereoscopic scanners, too. Although those were probably extremely expensive, and possibly not the beat reference for a DIY. I still think that more data sources is better, but maybe its just adding more noise... shannon entropy and all.
it looks as though your scanner is running too fast: the ultrasonic needs time to hit the target and return. if you rotate a sonic sensor quickly it can totally lose pulses, at range. also, i don't think either scanner can see across a street. so my recommendations: run the thing slowly, indoors, with an object in front of it.
the next thing i would look into is the resolution of the servos. are you controlling them with a bit banging program or just servo.h? most of these little servos running off pwm have minimum resolutions measured in degrees. Use instead one of the cheap small geared steppers avaliable, and just have it zero the various motors with cheap microswitches screwed into your 3d printed frame.
Another thing to look at is how long range ultrasonic sensors look, because many have a focusing cone that forces the ultrasonic path into a long tube shape, more ideal for scanning finer details and rejecting noise. I have a commercial ultrasonic rangefinder and can send measurements of it's focusing cone if you'd like.
I think, with a more restricted ultrasonic path, running the machine slower, with higher resolution actuators, and indoors on close up medium-sized objects, you'd have some success
Hi, good work
It seems the your problem related to resolution especially for laser version belongs to the limited resolution of the servos you used ( step not very fine) try to use more precise servos or use stepper motors instead
Great video bitluni! This should help anyone needing a DIY 3D scanner or just want to know how that works.
Edit: what music did you use? It's really catchy!
Quincas Moreira - Grasshopper
Mapping small items precisely is hard, if the beams does not have to exact same point of origen for every point.
For scanning smaller "movable" objects, I think, the result would be much better to actually rotate the object in the front of the sensor and allow the sensor to scan a vertically only, while the object is rotated by a stepper motor or such after each "scanline". Well ... to avoid the distortion/(some) trigonometry/whatever, it can be even extended to have a rotating plate for the objects and having a vertically moved sensor (on a vertical track). Surely, it's not ideal for scanning a human, a room or a street, it would be a bit hard to rotate those ;-P
Maybe you would see the object better if you make each dot a diferent color depending on distance.
Probably going to half to figure out the time of flight of the min/max distance and digitaly filter out the rest
great project
Those point clouds looks under-sampled.
great idea, ! please take a better laser module
man it's really cool
This TOF sensor sucks. If you turn off the lights and look at it trough a phone camera you'll be able to see the beam it makes. It's as good as regular LED. It's not a laser line. It has a cone of 30 degrees or more. I was very disappointed when I found that out. You can still use it for obstacle avoidance on a robot but not like a scanner. If you have $100 try the LIDAR-053 from aliexpress. Much better accuracy up to a few meters and goes 360º
The video did come out around noon on a Monday in the US. If some peoples subscriptions are vast then it's easy to miss videos later in the day looking back. Choosing the alarm bell for notifications usually gets immediate notification upon publishing, and an email some hours after that. I'm just wondering if you noticed different first 24 hours responses to the time and day you put videos out.
I try to catch up with my schedule again and pull the release back to the weekend. Still have much going on in my private life. But I don't see a huge effect in view counts.. it depends more on topic and on favor of the youtube gods. I have only 20% of the views from subscribers. That's like 1 to 2k views per video.. where are the other 43k subscribers? btw even though US is the distinct country with the most views on my channel, it's only 13% of the total views. EU is around 40%... and there are over 100 countries in total I get views from... sometimes it's stunning to see the stats.
bitluni's lab very interesting. I'm guessing the more active the comments and like engagement are in the first few hours is how the algorithm decides to put videos as recommended for people that might be interested. Channels that regularly put out videos that many people interact with asap seem to grow the fastest.
too bad.. that favors bigger channels. It's not that I wouldn't like to answer every question.. When I'm not I'm probably in the flow working on a new project
bitluni's lab I wasn't saying you needed to be active, just the people in the first few hours the video was out. Generating comments is something many youtubers aim to do, because it works--even if they don't look or respond to them. You'll often hear many times in a video tell me what your .... or something like that. Most of all good luck on this channel, I do enjoy it.
Why not use the ultrasonic sensor for scanning , it's much cheaper + 2 servos?
Shit if I could have 3d printer...
If i put this scanner on my forearm can it detect muscle activity or muscle contraction/flexing?
the tof sensor .I would like to use VL53L1X it can measure up to ~4.4 m .
How much Time did u spend on this project ?? Woow really amazing, thanks for sharing this. I hate esp8266 maybe lack of my knowledge.
Horizontal and vertical sensor inputs might help?
Отлично. Давай еще )
"probably the cheapest" Perfect! "but also probably the worst" Even better!
I think slowing down the movement might give better detail. Seems like it's filling in the gaps on the x axis. Cool design!
Every time you have creative ideas.. Thanks for giving so much to RUclips bitluni
@ofsanjay
good work
I think a laser scanner would seem like a great idea.
Use steppers with more presission
the sensor is the bottle neck here.. I would use some nema motors if it worked better
laser pointers or laser modules are cheaper and more accurate dollar for dollar. While there's plenty of videos and websites showing the laser style scanners they too have drawbacks. I do like your use of cheap servos and Blender. I have seen many pieces of software start out as free only to end up costing money down the road. I'll use Sketchup as an example. Gmax is the free version of 3D Studio Max and although free, it's not open source and they could quit making it available at anytime. Time spent learning Blender will not cost you money down the road. I'm waiting to see how you decide to decipher the point cloud information. Years ago when we started to make cheap touch probes for our cnc machines some clever people came up with some open source solutions. Google "Penny touch probe" and "turbocnc" related touch probe conversations and you may come across some useful information.
I use FreeCAD because while it's flaky if you try to modify underlying geometry, it is fully open and runs on all the operating systems.
Siana Gearz. I also use it for somethings. There are times I prefer Sketchup or Gmax to create shapes that would take forever in a conventional 3D drafting program. For simple things I sometimes prefer Tinkercad and 3d doodle or even Inkscape. Many choices these days all thanks to the expansion of 3d printers.
I have used 3DS MAX long time ago.. liked it more than blender.. the only problem with learning blender is that if you don't use it for a month you start all over again.
FreeCAD is also something I'd like to try. I heard it's a pain in the ass some times
Inkscape is my daily diriver in 2d lol... using it also for CNC
may be you must choose camera systems
Hello, would you be so kind as to tell me how to view scanner data on a PC?
Thank you
Hey I have a question. I have a sense 3d scanner, an Asus Xtion Pro and a kinect. Is it possible to modify and add a laser to the scanner
Hello,
Would you be so kind as to tell me what process you use to obtain the image? Is it a special software that visualizes the measured points?
Best regards
Jean-Pierre
Is there a way to use two scanners?
I want to make the measuring points more compact.
Love your new proyect! those low range laser sensors are so low range, I almost bought one of those for a project but the range killed me so changed approach drastically. what if you use a cámera and a laser or IR or natural light?
i had an idea for a 3d scanner with a pair of cameras, a stereoscopic setup, but i needed help with the image processing math.
You pretty much need the book "Multiple View Geometry in Computer Vision" By Hartley and Zisserman - i paid around $120 for my copy in the pre-Internet days. Do you intend to use any light assistance such as a laser or do you need to do corner detection and multiple view correlation? See also topic "corner detection" on Wikipedia for more pointers.
That could be another approach since. I have the camera code in place already.
But I'd probably use some kind of hybrid between image processing and laser to speed things up
Siana Gearz thanks for the book! I think i'll go for multiple image correlation, but even using the aid of a laser could be interesting. I wish I have the time to team up with bitluni's or anyone interested to try some ideas. Maybe one day!
bitluni's lab so part 2 is coming? I vote for a yes! ♡
Interesting project....can lidar be used instead....
Most cheap 3d scanners compensate with software and redundancy what they lack in accuracy.
Unfortunately software can't do much ich you are looking trough a really blurry glass
Nice Project :D
What´s the background music?
Hello! And what about connecting the TOF-sensor epc611 with a resolution of 8*8 to esp32?
Could you please explain how it works that the html code is stored/read out in the header file? I always wasted my time by escaping quotes and stuff like that
gcc is implementig some new c++ 11 features
look at the 6th syntax here
en.cppreference.com/w/cpp/language/string_literal
still would like to avoid the starting and ending literal for testing w/o c++
bitluni's lab I'll look at it soon. Thank You, this really helps me in a big project
Nice music on this... is it yours???
not this time :-)