## 3 Results
### Further Design Improvements and Adjustments  
A previous prototype design confirmed the functionality of the proposed software and hardware design and was used to debug and modify these parts. Given the entirely new and bespoke nature of the hardware and software components of this prototype, the relevant software settings and hardware selections were determined through a multifaceted approach. This approach entailed a rigorous objective evaluation by the research authors, complemented by a subjective selection process based on the empirical experience of the authors and the availability of the hardware components. The prototype's design incorporated values that were considered appropriate as initial parameters. Subsequent to this, a series of tests were conducted on the selected parameters, encompassing their various combinations and digitization outputs. These outputs were then subjected to quantitative, qualitative, and visual inspection, with the parameters themselves serving as the fundamental reference point. This process was time consuming and was carried out without recording the data for publication. The result was an overview of default settings suitable for a prototype 3D scanning device. The previous proposal used two ESP32-CAM devices as image capture cameras to perform calibration and digitization of object surfaces. Despite the advantages of using the ESP32-CAM in areas of difficult access, especially the use of a wireless WiFi network and the small size of the devices, for a general-purpose 3D scanning device design, the ESP32-CAM devices have significant disadvantages, especially with respect to image quality. The ESP32-CAM uses a 1600 \(\times\) 1200 resolution OV2640 camera module with a choice of automatic and manual zoom. Since the use of automatic zoom changes the intrinsic  
Figure 17: The point cloud obtained from the digitization process conducted using specialized test equipment. (**a**) Prior to adjustment, (**b**) subsequent to adjustment. parameters of the device, it would not be possible to keep these parameters unchanged after calibration. For this reason, only manual zoom can be used. For general use as a 3D scanner, the low resolution quality and limited range of lens parameter selection favor the use of industrial-quality cameras with the ability to use high-quality lenses with manual settings. For this reason, a pair of SUFCO SU200-MB cameras with 4 MPx resolution and 2.8-12 mm manual lens, manufactured and sourced by SUFCO, China, was selected to improve the prototype design. These cameras permit the interchangeable lenses, thus enhancing the device's versatility. Another notable enhancement in the design is the elimination of the manual feeding of the laser beam across the object, which is now performed by a 28 BYJ-48 5 V stepper motor with a ULN2003 driver module using an Arduino UNO R3, manufactured and sourced by Geekcreit, Shenzen, China. This motor enables precise and gradual translation of the laser line source about a vertical axis perpendicular to the axis of the laser source. To ensure safe usage and enhance portability, a mount was designed and fabricated using FFF technology for the camera and stepper motor. The CAD design is depicted in Figure 18a, and a photograph of the prototype device during the digitizing process is shown in Figure 18b. The mount was designed so that appropriate extrinsic parameters of the device, namely the relative spacing of the cameras (baseline, T) and the camera angles and their orientation, could be selected prior to calibration. These adjustments can be used for 3D surface digitization of objects of different sizes and working distances. To facilitate the work with the prototype device, a mount for placing it on a tripod was designed. The initial design of the prototype device utilized the OpenCV image thresholding library, in which a uniform threshold value is applied to each pixel. If the pixel value of color is less than or equal to the threshold, it is set to 0. Otherwise, it is set to a maximum value.