Can one of you generous souls give me a bit of advice?

Thanks.

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