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bq Ciclop Manual
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bq Ciclop Manual

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Ciclop
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Summary of Contents for bq Ciclop

  • Page 1 Ciclop 3D Scanner...
  • Page 2 What is Ciclop? • First DIY 3D Scanner • 30 minutes assembling • Fully customizable • Open-Source...
  • Page 3 What is Ciclop? • Scanning volume: 20 cm (diameter) x 20 cm (height) • BQ ZUM BT-328 & ZUM Scan • Accuracy around 0,5mm (according to calibration) • Ready to connect 2 motors, 4 lasers, or one LDR.
  • Page 4 Hardware: Easy to build and open to improve...
  • Page 5 The technology: Laser triangulation...
  • Page 6 The technology: Laser triangulation Lasers impact on the rotating piece The camera collects the surface information, analyzes and recreates the figure...
  • Page 7 Auto-calibration: A differential value...
  • Page 8 Software: Open to the future • Camera • HORU • Reconstructi Drivers on software Meshlab CloudCompa...
  • Page 9 How can I obtain a good scanning? Many factors are involved in the process: Lighting, color of the piece, brightness…Here we will learn how to control them...
  • Page 10 Ambient Lighting Lighting should be uniform, indirect and medium intensity. Thus, the appearance of reflections and shadows are avoided.
  • Page 11 Ambient Lighting A commendable idea is to set a direct light from the back, with some dispersion and not concentrated...
  • Page 12 Object material Objects with glossy finishes are difficult to scan because they can produce glare. But that does not mean it is not possible...
  • Page 13 Object material The next piece is a metal screw. It may seems impossible to scan...
  • Page 14 Object material But there is the possibility of applying a watercolor or acrylic paint water-soluble covering the piece and remove all metallic sheen, making it matte...
  • Page 15 Object material The result of scanning once this part is as follows:...
  • Page 16 Object material A next step would be the possible re-design of the piece (applying a smoothing with a 3D software for example)
  • Page 17 Object material Another metallic example, which was painted and then scanned:...
  • Page 18 Object color The laser beam is red, so that color objects can cause problems when it comes to recognition.
  • Page 19 Object color Light-colored objects can cause problems, especially in high brightness environments. In these cases it is recommended to decrease the brightness Brightness Uncorrected diminished brightness...
  • Page 20 Object color In the same way that dark objects, the results can be inaccurate, especially in environments with little light Uncorrected Corrected...
  • Page 21 Object color It is recommended to decrease the contrast and exposure increase a little, in addition to lowering the threshold Uncorrected Corrected...
  • Page 22 Object color The ideal would be a non- aggressive or very intense color, matte and dull...
  • Page 23 A beginning and an end Meshlab .STL .PLY Real piece...
  • Page 24 A beginning and an end Meshlab Reconstruction Calibration Scanning .STL .PLY Real piece...
  • Page 25 First step: Calibrating and Obtaining a point cloud...
  • Page 26 1. Wizard Mode 2. Control Workbench 3. Calibration 4. Scanning Workbench Workbench...
  • Page 27 1. Wizard Mode Horus has a way of using "step by step" for users with no experience in 3D scanning...
  • Page 28 1. Wizard Mode It opens every time the program is started, or from the File menu...
  • Page 29 1. Wizard Mode When you start the Wizard, this is the screen displayed...
  • Page 30 1. Wizard Mode The first step is to press the Connect button. If everything is properly connected and configured, the video is displayed on the right side...
  • Page 31 1. Wizard Mode Next is to edit the preferences. The following configuration window appears...
  • Page 32 1. Wizard Mode It may be modified brightness and distance of the pattern.
  • Page 33 1. Wizard Mode Pattern is the distance in mm, from the upper side of the square in the lower left part of the pattern to the rotating platform of the scanner...
  • Page 34 1. Wizard Mode It is very important to place the pattern as indicated in Figure. Then select Auto-Check...
  • Page 35 1. Wizard Mode If this is the first time the scanner is configured, the following window will appear. This dialogue lasers recommend setting manually to get a vertical position.
  • Page 36 1. Wizard Mode If the button YES is pressed both lasers will light. Using the calibration pattern, lasers will be placed vertically. To make this adjustment we will use the screws...
  • Page 37 1. Wizard Mode After clicking Next, we turn to the calibration. We place the pattern as the figure and click Calibrate...
  • Page 38 1. Wizard Mode After pressing Calibrate, start the process...
  • Page 39 1. Wizard Mode Once finished, if everything is correct, the message "All OK" is displayed...
  • Page 40 1. Wizard Mode The last step of the Wizard will set the scan preferences. This screen shows the available options...
  • Page 41 1. Wizard Mode Resolution: High resolution, Medium resolution, Low resolution. The higher it is, the higher the scan time...
  • Page 42 1. Wizard Mode Laser: It can be used the left laser, right laser, or both. If we use both, the amount of scanned points will be higher, so our piece will be more detailed...
  • Page 43 1. Wizard Mode Scanning Type: It can be used Simple scanning or With Texture. The simple scanning doesn’t catch the object color. The scanning with texture uses 2 Images to catch the laser, generating the mesh of points with the real colors of the object...
  • Page 44 1. Wizard Mode...
  • Page 45 1. Wizard Mode Once the Preference Scanning Settings are finished, we press Next, and the scanner will be ready to start working...
  • Page 46 2. Control Workbench Control of the parameters one by one...
  • Page 47 2. Control Workbench The changes made into the workbench do not affect to the others...
  • Page 48 2. Control Workbench Its goal is to experiment and learn about the different parameters...
  • Page 49 3. Calibration Workbench Calibration of the different components of the laser...
  • Page 50 3. Calibration Workbench The changes made into the workbench affect to the others...
  • Page 51 3. Calibration Workbench This process will be essential to obtain a good result...
  • Page 52 3. Calibration Workbench It will consist of: • Camara settings • Intrinsics calibration • Laser triangulation • Patern settings • Extrinsics calibration • Laser settings...
  • Page 53 3. Calibration Workbench Camera Settings: The camera settings aims to ensure that the pattern is detected correctly, in different positions Camera Settings and lighting conditions of the scene.
  • Page 54 3. Calibration Workbench Camera Settings...
  • Page 55 3. Calibration Workbench Camera Settings Brightness: Brightness of the image...
  • Page 56 3. Calibration Workbench Camera Settings Contrast: Relative intensity difference...
  • Page 57 3. Calibration Workbench Camera Settings Saturation: Intensity of color image...
  • Page 58 3. Calibration Workbench Camera Settings Exposure Time lens aperture (milliseconds)
  • Page 59 3. Calibration Workbench Camera Settings Framerate: Images captured per second Resolution: Image size. 4:3 Distortion: Distortion correction lens according to the calibration...
  • Page 60 3. Calibration Workbench Patern Settings: Calibration is done by a pattern...
  • Page 61 3. Calibration Workbench Patern Settings: By default comes configured according to the one it comes with Ciclop...
  • Page 62 3. Calibration Workbench Patern Settings: The distance set will be the one shown in Figure...
  • Page 63 3. Calibration Workbench Laser Settings: Option Enable / Disable right, left Laser, or both...
  • Page 64 3. Calibration Workbench Laser Settings: They should be adjusted to be completely vertical relative to the platform...
  • Page 65 3. Calibration Workbench Intrinsics Calibration: The aim is to calculate: • Focal lengths • Optical center • Lens distorsion...
  • Page 66 3. Calibration Workbench Intrinsics Calibration: We capture 12 pattern images in different positions. If the frame is green, the image is valid. It is advised that the positions are as different as possible.
  • Page 67 3. Calibration Workbench Intrinsics Calibration: The result is displayed numerically and graphically. At this point, we can accept or reject the calibration.
  • Page 68 3. Calibration Workbench Laser Triangulation: The aim is to calculate: • Lasers tilt and distance from the camera to its intersection...
  • Page 69 3. Calibration Workbench Laser Triangulation: It is the second calibration process We position the pattern as in the example We press on Calibrate...
  • Page 70 3. Calibration Workbench Laser Triangulation: The result is displayed numerically and graphically. At this point, to see if it is acceptable, we will discuss:...
  • Page 71 3. Calibration Workbench Laser Triangulation: 1- Dispersion of points: Both numbers should be as close to 0.1. 2- Minimum distance from the plane to the origin: The difference should be less than 30...
  • Page 72 3. Calibration Workbench Extrinsic Calibration: The aim is to calculate: • The position, and rotation of the disk center or platform...
  • Page 73 3. Calibration Workbench Extrinsic Calibration: Third and last calibration We position the pattern as in the example We press on Calibrate...
  • Page 74 3. Calibration Workbench Extrinsic Calibration: The result is displayed numerically and graphically. At this point, we can accept or reject the calibration.
  • Page 75 4. Scanning Workbench Scanning and obtaining the points cloud...
  • Page 76 4. Scanning Workbench Configure the scanning options and you get the points cloud...
  • Page 77 4. Scanning Workbench Settings panel Scan Type: Without Texture / With Texture. In the second case, the real color of the piece is captured...
  • Page 78 4. Scanning Workbench Settings panel • Using laser: Left, right, or both. Using both, you'll get more information, but should make a more accurate calibration for better results.
  • Page 79 4. Scanning Workbench Settings panel • Motor parameters, speed and acceleration. A small or minimum step, 0,45º for example, generates higher points density.
  • Page 80 4. Scanning Workbench Settings panel • Image acquisition: Brightness, contrast, saturation, exposure... They are the same parameters as in the Calibration Workbench.
  • Page 81 4. Scanning Workbench Settings panel • Image segmentation. Applying a filter. Noise is removed above the desired value (threshold), but the cloud will have less detail.
  • Page 82 4. Scanning Workbench Settings panel • Image segmentation. For simple texture or without scanning, can be used threshold.
  • Page 83 4. Scanning Workbench Settings panel • Image segmentation. For Scanning with texture, you also can use Open, and the removing noise intensifies.
  • Page 84 4. Scanning Workbench Settings panel • ROI: Creating an area of interest. It will be scanned only within the cylinder, avoiding obtaining noise from outer areas.
  • Page 85 4. Scanning Workbench Settings panel To scan, press in the PLAY icon Once finished, to save the point cloud will click on File > Save Model The output format will be .PLY...
  • Page 86 Meshlab Step Two: Reconstruction of the point cloud...
  • Page 87 2. Calculation of 1. Cleaning the Cloud normal vectors 3. Poisson 4. Joining clouds Reconstruction (optional) 5. Smoothing the .STL (optional)
  • Page 88 1. Cleaning the Cloud Cloud cleaning is use to remove those points that do not want, because they are noise, or do not interest us...
  • Page 89 1. Cleaning the Cloud To do this, we open the point cloud format .PLY File > Import mesh...
  • Page 90 1. Cleaning the Cloud We must open the point cloud in .PLY format...
  • Page 91 1. Cleaning the Cloud Vertex Select To delete points, select the tool Then we choose the unwanted points. They are displayed in red...
  • Page 92 1. Cleaning the Cloud...
  • Page 93 1. Cleaning the Cloud...
  • Page 94 1. Cleaning the Cloud Delete selected vertices Then select the option of the toolbar...
  • Page 95 1. Cleaning the Cloud A cleaned cloud points will be very important to obtain a good result...
  • Page 96 2. Calculation of normal vectors A normal is a perpendicular vector to a plane...
  • Page 97 2. Calculation of normal vectors In this step, we will calculate the normal of the points cloud. To do this, we group a number of points to form a plane, and finally the average is calculated.
  • Page 98 2. Calculation of normal vectors...
  • Page 99 2. Calculation of normal vectors Now we calculate the number of neighbors. Determines the amount of points needed to create a vector. It is recommended to start with a value of 10. The other values will be left by default. Then, we apply it.
  • Page 100 2. Calculation of normal vectors...
  • Page 101 2. Calculation of normal vectors We show normal. The best reconstructions are when the direction of the vectors are oriented away from the object. If the normal vectors are not directed outwards, we repeat the step changing the number of neighbors to 50;...
  • Page 102 2. Calculation of normal vectors Number of Number of neighbors: 10 neighbors: 50...
  • Page 103 3. Poisson Reconstruction For the reconstruction, we convert from .PLY to .STL It is a critical step, because depending on the previously established normal and reconstruction values, the STL may vary.
  • Page 104 3. Poisson Reconstruction Poisson Reconstruction To do this, we choose the option...
  • Page 105 3. Poisson Reconstruction...
  • Page 106 3. Poisson Reconstruction In this window you can modify two values: • Octree Depth • Solver Divide...
  • Page 107 3. Poisson Reconstruction The recommended values of both parameters are between 6 and 11. With a higher the value, the reconstruction is more accurate, but it takes longer to make the process.
  • Page 108 3. Poisson Reconstruction...
  • Page 109 3. Poisson Reconstruction To view reconstruction: View > Show Layer Dialog...
  • Page 110 3. Poisson Reconstruction...
  • Page 111 3. Poisson Reconstruction To save the reconstruction (STL): File > Export Mesh…...
  • Page 112 3. Poisson Reconstruction Sometimes due to the geometry of the piece, the cloud of points are incomplete. To fix this, you can re-scan the piece in another position or by using another laser, and then join the different clouds.
  • Page 113 4. Joining clouds (optional) To do this, we will open the various .PLY in MeshLab...
  • Page 114 4. Joining clouds (optional)
  • Page 115 4. Joining clouds (optional) Layer Dialog In the , we calculate each normal point cloud, as described above. Align Once done, we click on the tool...
  • Page 116 4. Joining clouds (optional)
  • Page 117 4. Joining clouds (optional) Tool panel Glue Here Mesh In the , we click on the first layer, and we glue it at the space ( Point Based glueing Then, we select the second mesh, and click on...
  • Page 118 4. Joining clouds (optional)
  • Page 119 4. Joining clouds (optional) In this window you have to select at least 3 points in common of both clouds. Example: First a point cloud 1, and then the same point in the 2nd. The choice does not have to be exact, can be approximated.
  • Page 120 4. Joining clouds (optional)
  • Page 121 4. Joining clouds (optional) The numbered points appear. If you select an invalid point you must cancel and repeat the process. Once the points are selected, click on OK.
  • Page 122 4. Joining clouds (optional)
  • Page 123 4. Joining clouds (optional) To join the aliened clouds: Filters > Mesh Layer > Flatten Visible Layers...
  • Page 124 4. Joining clouds (optional)
  • Page 125 4. Joining clouds (optional) In this window we select Keep Unreferenced Vertices option All other values will be left by default.
  • Page 126 5. Smoothing the .STL (optional) Although it is a process that can be performed with a different software, MeshLab gives the opportunity to smooth the STL reconstructed.
  • Page 127 5. Smoothing the .STL (optional) Our goal is to smooth the jagged faces...
  • Page 128 5. Smoothing the .STL (optional) Selection tool With the faces, we select the faces that we choose to smooth, and then choose Smooth Taubin...
  • Page 129 5. Smoothing the .STL (optional)
  • Page 130 5. Smoothing the .STL (optional)
  • Page 131 5. Smoothing the .STL (optional) Lambda is by default. About the rest of values, we recommend them as in the picture.
  • Page 132 5. Smoothing the .STL (optional) The result is the following:...