3D LiDAR Scanner 📡

This system captures accurate 3D scans of indoor environments using a rotating Time-of-Flight sensor controlled by a microcontroller. The project combines embedded systems and Python-based 3D visualization to produce interactive point clouds.

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Technologies Used

• C (Keil IDE): For microcontroller programming and hardware control.
• Python 3.9: For data processing and visualization.
• Open3D: Renders real-time point cloud scans in 3D.
• PySerial: Enables UART communication between the MCU and PC.
• MSP432E401Y Microcontroller: Controls scanning logic and interfaces with sensors/motors.
• VL53L1X ToF Sensor: Provides distance measurements using infrared light.
• 28BYJ-48 Stepper Motor + ULN2003 Driver: Rotates the sensor to capture a full 360° view.

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Features

• Full 3D Scanning:
  • Captures spatial data in multiple layers to create a detailed room scan.
  • Converts polar measurements into Cartesian coordinates for visualization.
• Live Data Transmission:
  • Uses UART to transmit distance data to the PC in real time.
• Interactive 3D Visualization:
  • Open3D displays point clouds that users can pan, rotate, and zoom.
• Modular Scan Settings:
  • Adjustable resolution (steps per rotation), number of layers, and vertical displacement.
• Visual Feedback:
  • Onboard LEDs indicate scan progress, UART activity, and status.

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How to Use

Part 1: Hardware Setup

• Assemble the sensor mount with the VL53L1X and stepper motor.
• Connect the components to the MSP432E401Y microcontroller as per the schematic.
• Ensure all components are powered appropriately (3.3V for the sensor, 5V for the stepper).

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Part 2: Programming the Microcontroller

1. Launch Keil µVision and open the project file: Final_Project.uvprojx
2. Click Translate to compile the code.
3. Click Build to generate the hex output.
4. Click Download to flash the code onto the microcontroller.

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Part 3: Running the Scanning & Visualization Program

1. On your PC, open Device Manager and identify the COM port the microcontroller is connected to.
2. Open the Python script 3dvisual.py in your preferred Python IDE.
3. Modify the configuration variables at the top of the script (commented as CONFIG):

   num_slices = 3
   num_segments = 32
   z_step_height = 100
   ser = serial.Serial('COM4', 115200, timeout=5)

4. Run the program and wait for the terminal to show waiting for PJ0 button press.
5. Press the PJ0 button on the board to begin the scanning sequence.
6. After each scan layer, manually move the system along the Z-axis to prepare for the next layer.
7. The program will continue scanning until all layers are completed.

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Part 4: Accessing the Visuals

• After the last scan, all the 3D points are saved to a file named 3Dvisual.xyz.
• This file can be opened using Open3D or other third-party 3D tools for further analysis or export.
• A 3D viewer will launch automatically, displaying the full scan with connected points and layers.

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Project Files

• Final_Project.c: Microcontroller code for stepper and sensor control.
• 3dvisual.py: Python script for serial data reading and visualization.
• 3Dvisual.xyz: Output file with all scanned XYZ points.

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Future Improvements

• Add vertical motor control for automated Z-axis movement.
• Upgrade data transfer to USB-C or wireless for higher throughput.
• Add filtering and mesh generation for cleaner 3D models.
• Export point clouds directly to STL or PLY for CAD applications.

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Enjoy scanning your world in 3D! 📡