## 3 Results
### Scan Result Analysis  
During the visual inspection, several deficiencies in the scanning process were identified. Primarily, the quality of the surface diminished as the rotation angle of the laser projector increased. The maximum rotation angle from the vertical position was approximately 45\({}^{\circ}\). It was observed that each increment in the rotation angle led to a decline in the quality obtained. This decline in quality can be attributed to the calculation of depth based solely on disparity. The projected laser pattern on the surface of the object itself possesses a certain thickness. This projected pattern, with its specific thickness, is then captured by cameras with a given resolution. Consequently, the thickness of the laser pattern is imaged within the image pixels at a certain thickness. To optimize surface quality, it is recommended to minimize the thickness of the projected laser pattern and enhance the resolution and image quality of the cameras to the greatest extent possible. For a given thickness of the laser pattern on the object, the lowest laser thickness within a single image line is in the image pixels in the case of a vertical orientation of the laser line. With each  
Figure 10: Result of the scan. (**a**) Obtained point cloud, (**b**) photograph of the scanning process. rotation of the laser projector from the vertical position, the thickness of the laser pattern increases in direct proportion. Consequently, calculating the disparity at rotation angles close to and equal to 90\({}^{\circ}\) becomes impractical. Therefore, the rotation of the laser projector should not exceed 45\({}^{\circ}\) from the vertical position, which significantly reduces the possible scanning area. Consequently, for subsequent applications, it is recommended to redesign the system to restrict movement to the vertical laser line, thereby eliminating the need for rotation. This issue can be mitigated or altogether eliminated through the implementation of multiple scans, followed by the processing and integration of the acquired point clouds based on their common characteristics. A notable shortcoming of the scanning process pertains to the region of the glossy surface within which the acquired points are significantly distant from the actual surface. This deficiency often arises during scanning in general, and efforts are made to compensate for it. The application of a matting agent on the glossy area of the surface can eliminate its effect, if the object to be scanned and the working space allows it. A notable disadvantage of the scanning process is the periodic layering of the resulting point cloud. This deficiency arises from the disparity-based depth calculation. The projected laser pattern has a certain thickness in the pixels of the images. The current program function calculates the Z coordinate of the points based on the disparity in the same row of non-zero points of the binary images. However, it does this for each non-zero point of the first image relative to each non-zero point in the second image. The disparity of the image point of the left image is computed as the smallest absolute difference of distances. Given the utilization of a single laser line projector, under optimal conditions, the laser pattern would be constrained to the thickness of a single non-zero image point within a given line across both binary frames. Thus, only one 3D coordinate point could be accurately computed for each image line. The projected laser pattern in the binary image possesses a certain thickness in image points, thereby enabling the calculation of multiple 3D coordinate points within a single row of image points based on the disparity of these points. This results in the formation of multiple regular layers of image points in the Z-axis direction, as illustrated in Figure 11.  
Figure 11: Obtained point cloud of the digitized surface. (**a**) Front view, (**b**) right side view. This undesirable effect on the obtained point cloud can be eliminated in several ways.