How to scan a room in 3d?

Question

open source

There are many projects for 3D scanning of objects and premises.
I am looking for the best solution to simplify the measurement of existing objects.
The floor, protrusions in the walls, the ceiling, the location of the equipment inside the room are measured.
In some key places, +-10 mm accuracy is required.
It feels like a similar solution was developed by the Google Tango project.
Video with an example: https://www.youtube.com/watch?v=Fa7AXiRedBo
This project has now been transformed into ARCore . But there seems to be a bias towards augmented reality.
Project https://canvas.io/ . Error 1% of the distance to the object. Maximum distance 7m (error 70mm - low accuracy).
Share your personal experience in scanning rooms in 3D.
Update:
Interesting DYI solution on Android and lasers https://geektimes.com/post/301123/

Answer 1

Smartphone (or camera) + 123D (or other software for photogrammetry) + 1-2 reference sizes. The accuracy is enough to check, say, the placement of large equipment, but it will not be enough if you are going to make furniture.

Answer 2

It seems that I saw something in the computer vision libraries ...
And so it remains only the
Faro Laser Scanner Focus 3D scanning and similar things ...

Answer 3

As an option - Vive VR tracker.
You don’t need to buy a helmet for this, two base stations and one VR tracker are enough. There are ready-made libraries that allow real-time data to be read in python. The tracker has a connector for additional logic. You can do something like a small probe to take the coordinates of specific points.
Accuracy is close to millimeter. Although there may be less in the corners of the room (especially behind one of the base stations). Base stations do not need calibration and placement accuracy - put them on shelves in opposite corners and that's it.
ps solutions based on kinect and other depth cameras - still will not give a normal result, because the error accumulates there over time. With a more or less complex geometry - go around the room around the perimeter, and the wall will not converge ... You need a solution supplemented by an absolute positioning tracker, and this is unrealistic without base stations (in one form or another).

Answer 4

Someone kinekty iksboksovye used. It was a boom when T-shirts gave the go-ahead for development for Kinect on PC