PrimeSense 360 Degree Scanner to STL Converter

Windows C++ application for capturing PrimeSense/OpenNI depth frames from a manually rotated turntable, previewing a reconstructed mesh, and saving it as a binary STL in millimeters.

Requirements

• Windows and Visual Studio C++ build tools
• OpenNI2, including its Include, Lib, and Redist directories
• OpenCV
• The primesense-openni2-winusb submodule for packaging the OpenNI2 runtime and, when needed, building its WinUSB sensor plugin

Initialize the required submodule:

git submodule update --init components/primesense-openni2-winusb

Configure and build the scanner:

cmake -S . -B build `
  -DOpenNI_DIR="C:\Program Files\OpenNI2" `
  -DOpenCV_DIR="C:\opencv\build"
cmake --build build --config Debug

The default build creates only the scanner executable. Its output is build\bin\Debug\3dscan_to_stl.exe; the build also stages the OpenNI2 runtime beside it.

If the camera uses the generic Windows WinUSB driver, build the matching OpenNI2 sensor plugin into the scanner's app-local runtime:

cmake --build build --config Debug --target build_winusb_openni

Mesh tests are optional and are not part of the default build:

cmake -S . -B build -DBUILD_TESTING=ON
cmake --build build --config Debug --target scan_mesh_tests
ctest --test-dir build -C Debug --output-on-failure

Scan workflow

1. Keep the camera fixed and center the object on a manually rotated turntable.
2. Select Set turntable axis and click the rotation center at the object's base in the live depth view.
3. Capture the starting angle, then rotate the turntable in 15-degree steps and capture each view. Capture a complete rotation with no gap over 30 degrees; 24 views are recommended.
4. Select Generate STL preview, inspect the mesh, and select Save STL.

The Camera depth range filters points by distance from the camera. The optional 3D crop filters by turntable-relative X, Z, and Height bounds. Toggle it using the on-screen control or C. With it off, the 3D bounds and crop-center offset are ignored; camera-depth filtering stays active. Use Position crop and click the target center in the live view to move the crop box, then adjust the X/Z and Height bounds. Press R to reset crop and camera-depth ranges.

Space captures, A/D change the displayed turntable angle, and Esc quits. The angle controls do not rotate a physical turntable.

Reconstruction limits

The mesh generator approximates an object's exterior as a radial profile around the turntable axis. It works best for objects without deep undercuts. The underside is not observed and the top and bottom are capped. The scan volume is limited to about 360 mm in diameter and 600 mm in height. Inspect the preview and validate the STL in a slicer before printing.