I calibrated my system, and the config file can be seen below (post calibration). I changed a few things in the default.config.json file, because my NEMA stepper motor has a resolution of 200, and is in 1/16th mode - so 3200 per complete single revolution, and the diameter of the turntable is 14 cm, so 70 mm radius :

turntable": {
"steps": 3200,
"radius": 70,
"height": 15,
"degree_per_step": {
"low": 3.6,
"medium": 1.8,
"high": 0.8
}

One thing with the above though is that the fabScan wiki help pages don't mention what degree of step - low, medium, high are for, or the height is for ?

I also changed the number of laser to 1 - single laser.

The non default camera settings are these - as my camera shows the image sideways (rotated 90 degrees) - so I changed vflip to True.

"rotate": "True",
"hflip": "False",
"vflip": "True",

The calibration values are the default values, apart from the origin-distance, which is 47mm from the turntable to the top of the bottom chessboard row, so I changed it to this

"pattern": {
"square_size": 11,
"rows": 6,
"columns": 8,
"origin_distance": 47,
"type": "chessboard"
},

These settings match my chessbaord calibration I printed off.

Following are pictures from my scans of a tea pot. Here is the original image from the first phase of calibration

I noticed when I set the config to keep the scan images, that I can see the red laser outline and it looks correct - apart from the images are rotated 90 degrees - so imagine each picture is on its side 90 degrees rotated to the right with the top of the image on the right hand side of each picture.

Also the cloud points are the same, when I rotate the cloud points in the web browser they dont rotate around the centre of the turn table, they rotate around a side view.

Is there a bug when you change the vflip ? Shall I rotate the camera physically to the correct orientation ? Then put the vflip back to false ? 

This is the complete config file...

{
"folders": {
"www": "/usr/share/fabscanpi/",
"scans": "/home/pi/scans/"
},
"laser": {
"interleaved": "False",
"numbers": 1,
"color": "R (RGB)"
},
"scanner_type": "laserscanner",
"calibration": {
"weight_matrix": [],
"dist_camera_matrix": [],
"pattern": {
"square_size": 11,
"rows": 6,
"columns": 8,
"origin_distance": 47,
"type": "chessboard"
},
"camera_matrix": [
,
,

],
"distortion_vector": ,
"laser_planes": [
{
"distance": 137.20160911374415,
"normal": ,
"deviation": 0.02480792209446897
}
],
"platform_translation": ,
"platform_rotation": [
,
,

],
"type": "chessboard"
},
"meshlab": {
"path": "/usr/bin/"
},
"process_numbers": 3,
"turntable": {
"steps": 3200,
"radius": 70,
"height": 15,
"degree_per_step": {
"low": 3.6,
"medium": 1.8,
"high": 0.8
}
},
"camera": {
"resolution": {
"width": 1640,
"height": 1232
},
"preview_resolution": {
"width": 800,
"height": 600
},
"rotate": "True",
"hflip": "False",
"vflip": "True",
"type": "PICAM",
"undistort": "False"
},
"connector": {
"type": "serial",
"firmware": "fabscanpi",
"baudrate": 57600,
"autoflash": "False",
"flash_baudrate": 115200,
"port": "/dev/ttyUSB0"
},
"texture_illumination": 160,
"keep_raw_images": "False",
"keep_calibration_raw_images": "False",
"discoverable": "True",
"online_lookup_ip": "8.8.8.8"
}

As I am using an Arduino Uno rather than a shield, I've re-written the Arduino FW to simplify it. I couldn't get my stepper motors to work with the AccelStepper class thats used in the MotorDriver.cpp arduino source. I have written a simple step function that takes moves the stepper one step.

Running the calibration routine seems to makea full turn of the motor first, then moves the chessboard on the stepper -128 steps repeatedly, meaning the stepper motor ends up going around another full turn or two. Is this correct ? Or is the calibration supposed to be moving it 128 steps clockwise, then 128 counter clockwise back to the starting position ? 

Any clue on what the calibaration operations are from the server ?

Thanks. 

I'm using:

PI 4

UNO (Clone) with fabscanshield (TMC2209)

two laser and a stepper (400 Steps).

PI Cam

The server version is 0.10.2

Everything works fine using the webinterface (Switching both laser, the turntable and the LED ring). 

Starting the calibration nothing happends (no turntable movement, no lasers on)

The log File shows

2022-11-08 14:15:28,324 DEBUG - fabscan.scanner.laserscanner.FSCalibrationActor: Step 3 of 102 in MODE_AUTO_CALIBRATION.
2022-11-08 14:15:31,106 DEBUG - fabscan.scanner.laserscanner.FSCalibrationActor: Corners detected...
2022-11-08 14:15:31,108 DEBUG - fabscan.scanner.laserscanner.FSCalibrationActor: Appending new points ...
2022-11-08 14:15:34,116 DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Serial read timeout occured, skipping current and waiti ng for next command.
2022-11-08 14:15:37,120 DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Serial read timeout occured, skipping current and waiti ng for next command.
2022-11-08 14:15:37,121 DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Send/Receive Error: 'NoneType' object has no attribute 'decode'
2022-11-08 14:15:37,123 DEBUG - 

I have no idea. Any ideas from Your side?.

Best regards

Uwe

sudo /etc/init.d/fabscanpi-server start

but the output is:

No process in pidfile
'rtmp/fabscanpi-server pid' found running: none killed.

Anyway, it says the server has started successfully.

We checked if the file exisits and it does. Inside it there is the number that shows the process, so theorically it is correct

cat:
/tmp/fabscanpi-server.pid: No such file or directory 

The Pi Server, when it starts, auto updates the Arduino Firmware and overwrites my updated Arduino code - I cna see it in the log

"DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Latest available firmware version is: v.20200624
DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Trying to connect Arduino on port: /dev/ttyUSB0
DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Installed firmware version:
INFO - fabscan.scanner.laserscanner.driver.FSSerial: Old or no firmare detected trying to flash current firmware...

So I turned off auto update using the /etc/default.config.json, changing "autoflash": "True" to "autoflash": "False". Now when the server starts my Arduino Firmware stays on the Uno.

But now with my firmware the Pi server wont start - according to the log I get an error

DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Serial read timeout occured, skipping current and waiting for next command.
DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Serial read timeout occured, skipping current and waiting for next command.
DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Send/Receive Error: 'NoneType' object has no attribute 'decode'

I am using the Arduino FW from this repo https://github.com/mariolukas/FabScanPi-Firmware.git using the master branch, and the version.h shows the latest BUILD_VERSION of v.20200624 - which I presume is the latest.

How do I get the Pi server to boot using my manually built Arduino code from the https://github.com/mariolukas/FabScanPi-Firmware.git repo ?

Or how do I get the Arduino FW code for the latest version - even my manual build FW and the hex file uploaded by the server both look like they are the same version ?

Thanks.

I have attached an example where I scanned the calibration card.

Any idea how this can be resolved?

I cant find any Fab Scan Hat (pi or uno), so I would like to use an Arduino UNO connected to the Pi.

If using an UNO rather than the HAT, do I need to change the UNO bootloader, or just upload the firmware ? 

I've downloaded the firmware on to the Uno from this github repo

mariolukas/FabScanPi-Firmware: Firmware of FabScanPi 3D Laser Scanner (github.com)

I can send commands to the Uno via UART with the serial monitor from the Arduino IDE.

I've also got the Pi side working, after connecting the Uno to the Pi via USB, the server starts up but I am getting the bootloader message in the FabScan Server log file

INFO - fabscan.server.FSScanServer: FabScanPi-Server 0.9.4
DEBUG - fabscan.scanner.interfaces: Scanner Type is: laserscanner
DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Port in Config found
DEBUG - fabscan.scanner.laserscanner.driver.FSSerial: Latest available firmware version is: v.20200624
INFO - fabscan.lib.util.FSUtil: b'avrdude-original: Using autoreset DTR on GPIO Pin 7'
ERROR - fabscan.scanner.laserscanner.driver.FSSerial: Communication error on port /dev/ttyAMA0 try other flashing baudrate than 115200. Maybe corrupted bootloader.

From the browser I get the error (shortened message here for brevity)

The FabScanPi server is currently not running

So any ideas on why the FabScan server has comms error to the Arduino firmware ? BTW I do not have any hardware/peripherals etc connected to the Arduino UNO yet - I presume there is no feedback from the UNO to the FabScan via serial in terms of peripheral state ?

Thanks

Marcus

Trying to get my bros ciclops scanner working after 5 years of it not being used. I built a sd card with the fabscan raspi image from this site so the settings are all default. 

When I go to edit the config file and the ciclop config I get permission denied.

When I look at the documentation I can't see anything about this ( I'm probably blind)

I am using MobaXterm to connect to the raspberry and using the text editor built in I even try just downloading the files and deleting the originials but still no luck.