Ciclop 3D Scanner

by bqLabs, published

Ciclop 3D Scanner by bqLabs Mar 25, 2015
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Ciclop 3D Scanner is an Open Source project created by bq.

All sources are hosted in GitHub:

You can find more information at DIWO: [en] [es]


Ciclop - Building Instructions

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Mine still doesn't work, that ciclop is a disaster and your support is 0.

What is mode Logitech is you using, please Make a link.. for what component you are using... There is not audible guide, The only sound is headbanning crap music..

May 6, 2016 - Modified May 6, 2016

The Ciclop scanner saga continues...
OK so I modified the LASER holders to fit 12mm lasers so I could use modules that were cheap got that done a simple fix( the best price I could find for the recommended kit LASERS was $25 Canadian dollars each, the cheap Chinese modules were only $1 Canadian.

Bought ZUM scan boards from OSHPARK minimum order was 3 boards, no problem. BQ cannot ship to Canada from Spain for complected boards. No idea why? Ordered parts from Mouser electronics. built the boards. They work cool!

Printed all the parts no problem.

Now the latest issue lol!

I went to my local machine shop / Industrial supply to price and get the turntable bearing.
My god could they possibly find a more uncommon bearing(70x110x13)!
The price I was quoted from my local shop was $130 Canadian after an online search I could order one for $40 from China.
(They are pretty reasonable and I have been an Industrial and Agricultural customer for years and have a good relationship with them)
I'm reworking thee base to handle a much cheaper bearing set.
The quoted bearing would be able to handle several TON's of load! So its not necessary as I doubt I would put anything on the turntable that weighs more than a couple of kilograms

Thank you BQ for making your project even more frustrating to complete! The roadblocks and search for parts was fun to navigate
So much for the idea of a $50 3d scanner I have spent more than that on hardware and electronics. It would have been nice if I could have ordered the kit from Lulzbot for $299 USD I'm close to that on what this has cost so far (Lulzbot can't ship the kit to Canada for some reason because of the LASER's).

At This point I'm going to finish the project and use it but I'm less than thrilled with BQ

Good luck with getting the thing to work.
There support is 0, mine still can't scan.
There newest software version is for ubuntu not for windows.

Have you checked any of the user forums for help? I haven't done much with the project since the great bearing debacle. I'm still simmering over that. With literally dozens of options available these guys seem to pick oddball parts, and zero communication skills when asked questions. This is a good example of what happens when you let coders with a slight knowledge of engineering and cost control loose to design something.

i did, this guy called Jesus is doing the support, after asking me a few questions he told me chances were great my problems would be fixed with the latest software, wich is not available for windows.

ok so the Camera holder here does not seem to be the one for the Arduino Uno.
Every 'controller' kit I've found on the internet has been Arduino Uno and the scan ZUM SCAN shield.
Once the shield is on the Uno, and the stepper driver is on the shield, and heatsink, it becomes too tall to fit in the area provided.
I had to cut the little legs out (what are they for, anyway?) and hot-glue the Uno board in place. Once the little legs were removed, there was enough room for the cover to be put on.

Is there a different base that has a better mounting option for the arduino uno or am I missing something here?

Thank you!!!

When building mine i used these 2 items, worked great.



Ciclop Arduino mount
Ciclop Back Cover for bigger electronic card
by s3rkan

Thank you so much!

where can i get an stl file for the disc?

so my stepper 42 motor has Red A+ Yellow B+ Green A- Blue B- does someone have a drawing of the board, not sure where to hookup on the board.

on github, svg folder

Thank you

Brilliant work.
Parts on order.
However, my parts box contains lots of very close but not identical stuff, and likely so does everybody else.
Is it possible for you to release the original design source files to allow to easier modification?
Else I'll just have to redesign some parts from scratch.


ok .. I've built everything, I used a motor NEMA 17 17hs2408 ( angle deg. 1.8)
the engine warms up very quickly, do not touch it...is not normal .. maybe I'm wrong connection?

nema 17 pinout :
RED: A +

the laser must cross the center of the disc?

I can not scan objects that have black pieces ... it is not possible scan objects blacks I wonder what it's for this scanner ...

at this point a better kinect ..

someone can post scans performed with ciclop bq?


where did you hook these up to the board?? this my only last thing to do.

This comment has been deleted.

Will the programming work with other cameras plug and play? Or are there programming modifications required?

Would stepping up to a 1080P camera make a difference? Such as the C920.
I'm not concerned about the design mounts as I can update that. Mostly concerned with the programming and hookups.

Thanks in advance.

Is there a version that has the larger pieces in smaller sections? for printers that are limited to say 14cm x 14cm x 13cm max capacity ???Thanxs


Been thinking about this for a while, but what are the results of a scanned object like? I don't seem to be able to find any good pictures of the results.

You will find information on how to build it but no work done ...

Are we ever going to get the update with nice extras in?
I know it was being tested.

Any recommendations on a fine laser from Ebay?


Pour ceux qui pensais pouvoir facilement extraire un fichier STL, passer votre chemin.
Inutilisable,régalage fastidieux dépendant de la luminosité qui varie constamment....
Nuage de point a retoucher dans meshlab qui n'est pas des plus intuitif et en anglais uniquement.
besoin d'une machine de guerre pour faire tout ça.
Dommage, belle effort de BQ sur la doc et la belle conception des pièces imprimable = manque un logiciel utilisable par le commun des mortels.
Peut-être qu'un informaticien averti saurait gérer, ce n'est pas mon cas. 123d catch est bien mieux pour un stl sans échelle si on est pas préssé.
Peut-être que BQ saura m'aider... a suivre.

I bought a kit from China, and printed all the plastic parts myself. My only problem is that the stepper they sent doesn't seem to work. Something inside seems to spin but the shaft doesn't move, or moves erratically, even when the motor shaft is not attached to the ciclop platform. At first I thought it was a pinout problem, so I took the pins out of the connector and tried all 24 combos of the four colors to get it to spin correctly, but none worked. I would have expected 2 of those combos to work (one for each direction). So I can only assume at this point the motor is bad. I'd rather just buy a better quality one directly than trying to go through the seller for a replacement. Thing is, I don't know much about steppers, so I need help getting the right one. Anyone have a link to the correct one? Or what I should be looking for? Thanks for the help! I hate to come this far only to get thwarted by the dang stepper.


I had the same issue initially, and realised that I hadn't put the jumpers on the driver board for micro-stepping, so that might be worth checking. I'm using a CNC V3 Shield on an Arduino Uno clone, but don't know what you're using so this may help, or not.

Stepper driver voltage correct? Or do these drive directly from the board? Either way, jerky motion with no load is usually an under-loaded stepper driver. Measure the pot directly on the driver (with ceramic/non-conductive screw driver) and check voltage. Should be between .4 and .8v. Some motors like higher juice levels, so as long as it's staying cool (fan on heatsink works) then you should be good to go.

Nice work and professional !!!
i have one question ; Which software did you use to make this animation video ??

Thanks in advance for your answer

really need to do your homework and find the best prices.

whats the total average cost for all parts needed?

Where does one find that checker sticker paper at ?

thank you so much, that helped alot, printed it out on photo paper.

This comment has been deleted.

No updates on the firmware or software for a long time. Looks like this is dead?

Jan 13, 2016 - Modified Jan 13, 2016
bqLabs - in reply to deuse

Hi, it has been new features implemented but not released. Now the project goes managed by bqlabs (Innovation Department), without product management. New releases will be tested by the community. Keep tuned.

Thanks. But it's been months now :(

Nop, is mostly because it works well. There are no big bugs needed to be fixed. looks that they are working in the documentation

They was going to add more features to help after you've scanned the item. But this has not happened.

Is it really necessary to use pololu module to drive motor and is it really necessary to use such expensive and powerful motor as nema17?
I bought 28byj-48 stepper motor with uln2003, it has 64 steps per 5 degrees of rotation. This pair costs few dollars and powerful enough to rotate platform. Is scanning really so intence process that I need to move stepper control to external pololu board?

For scanning it is used 0.45-0.225º with higher resolution. Then, your driver can be adapted. Here you can edit the firmware (https://github.com/bqlabs/horus-fw) to make it compatible.

How come there hasn't been any updates to either the firmware or software?

How fine does the laser line need to be? I got these adjustable focus modules:


But the finest line I can get them to make is about 2-3mm wide at roughly the turntable distance. Can I get better modules than these?

the thinner the better, at least in resolution, but makes it difficult to segment the line by the algorithm. i think that those lasers are ok, looks better than my lasers!! :P

Can this scanner be built on Arduino 2560 Mega board? Maybe someone has appropriate firmware and project details?

Here you can find Horus-fw for Arduino Mega: https://github.com/McVillano/horus-fw

I am wondering the same thing as i have 4 of these laying around.
Can anyone answer us?

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Can any one tell me where i can get the laser modules ?

Laser 5mw-650nm

Just had a email reply from bqlabs they said "The BQ Ciclop has two 5V class-1 line lasers. Any red line laser should work with it."

I'm trying to find out as well. I've asked about the volts ect. But Nothing.
I want to try Green lasers. If you find out please post and I will do the same.

What printer settings should I use?
You guy's using support for the the main part (camera holder).

When looking at the sliced STL, I'm sure i need to install cooling for my Prusa prior to this print if I ever want to give it a go without support.

I have printed all of the parts (except the back cover) with no additional support with good results. Parts that need support have the support built into the model. The bearing clip for example has 3 tubes coming out of a pedestal - that is all for support. Same for the camera holder. There is support built in.

I'm printing on a XYZ Da Vinci 1.0. It does not have a cooling fan.

I am having trouble printing the back cover. It is really thin and is not printing well. Still working on that.

Would anyone be willing to share there printer settings on the various components of this scanner or point me in the right direction?
Google seems to come up with nothing about printer settings


I'll tell you what I did to get better scans.

When it's all together and the program is installed. Go to advanced calibration and turn on both lasers.
Now you will see the point they cross on the turn table. But I bet it won't be in the middle. If it is..WELL DONE :)

You have two options if the lasers don't make a cross in the middle.

!- undo the nuts that hold your laser on both sides.
2-move the laser holder until they cross in the centre of the turn table.
3-when you've done that re calibrate.

Or you can move the table. I found moving the lasers to be easer. I hope that helps.

I thought both lasers are vertical? Is one supposed to be orthogonal to the other?

Yes vertical but the beams should cross in the centre of the turn table.

Thanks. I assume you simply position the target so it is centered and then try to align the lasers by adjusting their position along the horizontal arms?

No. You setup the lasers then go through the calibration in horus.. When done just put what ever you want to scan in the middle of the turn table. Lets us know how you get on.

In Spanish but they give good tips. https://www.youtube.com/watch?v=2Fg0L9JPddg

If I use the right laser only I get better results. I'm scanning a rectangular object. If I use the left laser, the object is very curved on its two wide faces. If I use both lasers I get a very distorted scan like 2 objects offset from each other.

My laser beams are vertical. I did run the calibrations. The beams are about 6mm apart and parallel at the center of the platform. The calibration looks odd though, one side is much taller than the other.

Ok, I recalibrate after putting up a white background behind the scanner. This made a big difference! There is still a little "gap" between the two objects that are created when I use both lasers. I'm not sure what causes that but the laser triangulation calibration made a big step forward.

Oct 1, 2015 - Modified Oct 1, 2015
EclecticAngler - in reply to deuse

Not having much success so far. I did the horus laser calibration. That does not converge the beams at the center of the table - they are about 6mm apart.

I've set the focus on my camera (there is a youtube on how to do this). It might be a lighting or background problem. I have a busy background. I am using the ROI view and setting the cylinder around the object to scan. The object is black but I've tried a few other things too.

Post a pic of your scan. When you calibrate and use the chequered bit. Do the lasers match up 100%
with the straight lines? they must cross at the middle of the table.

You may find your turn table is a bit out when it's going round but there is nothing you can do about it.

I posted pics in the google group. Not sure how to do it here. I'm getting better results after putting up a white backdrop and recalibrating. The lasers are parallel and are parallel to the vertical lines on the target. At the center of the platter they are about 6mm apart with each line being 3mm away.

I'm not sure what you mean about the turntable being out? Mine seems to rotate smoothly and level.

Some turn tables are off centre. I don't get what you mean by " At the center of the platter they are about 6mm apart with each line being 3mm away"

The lasers should cross each other at the centre of the turn table.

The laser beams are vertical lines and are parallel to each other. They do not cross - they are 6mm apart. What do you mean by "cross" do you mean "converge" - the lines are overlaid on top of each other?

I've just revisited this and see that if I move the target screen forward a few mms the laser lines do converge. It is difficult to say if it is exactly at the center of the platter but seems to be very close. I rotated the platter, found the center, made a mark and then tried to align the screen at that mark.

a good thing i‘d have a try!

Aug 13, 2015 - Modified Aug 13, 2015

So as far as i understand- if i buy the electronic kit (http://store.bq.com/en/kit-electronica-ciclop) and print these files, i´ll have a 3d scanner ?

Really? And the steel rods?

If you get the full kit then yes.

and compared the print quality after scanning ?

I will compare after it comes and I set it up. Problem being all the video help are in Spanish :(

Aug 10, 2015 - Modified Aug 11, 2015

I've found the kit for sale in the UK at a good price so I may get it. Does the scanner software work on windows 8.1?
Have I got to flash the small mother board? Thank you.

http://www.printme3d.com/get-in-touch cheapest place I've found in the UK.

Forgot to ask. Can we upgrade the camera?

Well I caved in a ordered one from the site posted above.... :)

i found the full scanner kits here in the uk http://www.3dprintworld-aylesbury.co.uk/scanners/ciclop they also sell the electronics only kits

How can we purchase one if we live in the US?

Looks like it will just fit

Will this fit on a 200x200 print bed ?


The motor wireway is 240mm so it will not fit. Use NetFab - select scale - uncheck the "fix scaling ratio" - and change the Z axis scale to something that will fit your printer.

If you do not uncheck (or un-tick) the "fix scaling ratio' box the entire part will scale proportionally and will not fit onto the rod.

Thanks to Idcampana for 6014 suggestion....got one from Ebay.uk for £9.89 including 1st class post !!!
To help compensate for the 7mm extra thickness, I did 3 things ---------

1/ Used a 6mm thick turntable, with 1.5mm non-slip mat, winning about 2.5mm over original
2/ Lowered the base flange as much as possible (was around 4mm).......so table surface lowered total c. 6.5mm
3/ Increased the height of the two bearing flanges on base from 11mm to 18mm

All fits like a glove ------- and the overall geometry is close to original. Only when I sort electrics and rev up will I know.

The 16014 Bearing in my country is over $90.00, so, we are going to try to print one, we will post our success asap. (or failure)

do you have some stls to share? I want to try too

Jun 20, 2015 - Modified Jun 20, 2015
3dprintsolutions - in reply to ariuskooo

Hey, here''s an stl the dimensions are exactly the same a the 16014
I use my own short url script / service.
The below link will download the STL called Bearing.stl
The Download is 44.8 meg.
And here is the bearing.scad file, so you can make a lot of different bearing.
Also hosted on my short url:

OpenSCAD is free to download here:

There are some Customizers here as well located at:
However I have had no success with the online one, the page times out.
The Outer Dia of the 16014 is 110mm inside dia is 70mm, thickness is 13 mm

I hope this helps.
Please post any successful prints.

Customizable Ball Bearing Generator
by HotIceT

You can try the 6014, which is cheaper (at least in my country). The only problem is that it's 7mm higher so you have to modify the base.


Hope it helps.

This comment has been deleted.

IS there an alternative to the Zum Board, I cannot seem to buy one in Australia, an Alternative would be great.

I think that you can use as alternative , a standard Arduino UNO and a CNC V3 shield.

Modified the bq firmware to use this board which you can download here : https://github.com/snhack/horus-fw

set it up can't get the bugger working

Thank you :-)

Hi, after compiling opencv the right way, i could proceed quite a bit! But now I am stuck in calibrating the chessboard.
Seems it cannot recognize me squares. Is the LDR Value required(i did not connect them) ?
Look at

Can you give me further hints ?

bqLabs - in reply to gigl

Hi, you need to use our chessboard pattern without scaling: https://github.com/bq/ciclop/blob/master/svg/chessboard-pattern.svg. You don't need LDR value. Please, write further issues in our Google Group: https://groups.google.com/forum/?hl=en#!forum/ciclop-3d-scanner. Regards!

This comment has been deleted.

Seems, I have a problem with the Camera.
When I try to connect in Linux, it says "WrongCamera". This is due to the exposure command does not work.
When disabling the check the errors are:
VIDIOC_QBUF: Invalid argument
VIDIOC_QBUF: Invalid argument
VIDIOC_QBUF: Invalid argument

In the BOM you state "Logitech HD C270" but there exist "Logitech HD C270h" and "Logitech HD C270p".
Which subtype is the correct one ? What is the VID/PID of the camera ?
mine is 046d:0825
Any help is appreciated

bqLabs - in reply to gigl

Hi gigl,
You need to install our custom OpenCV that fixes some V4L/OpenCV issues. Please follow these instructions: https://github.com/bq/horus/wiki/Documentation. Btw, if you are using other Linux system different from Ubuntu you can try to build your own: https://github.com/bq/opencv.

gigl - in reply to bqLabs

Hi byLabs, thank you for yoru hint!

In downloaded and compiled opencv-2.4.9.x-prep. It compiled much better and smoother than opencv-2.10 with cmake.
Only MD5 function was not understood by cmake. I installed into /usr, such also the Python module sits in

When I try to run horus, then I still get get

Horus 0.1.1 <<<
Connecting camera 0
Connecting camera 0
Disconnecting camera 0
Connecting camera 0
Corrupt JPEG data: 1 extraneous bytes before marker 0xd2
Corrupt JPEG data: 1 extraneous bytes before marker 0xd3
HIGHGUI ERROR: V4L2: Exposure is not supported by your device
Connecting board /dev/ttyUSB0 115200

I am using Fedora release 14 (Laughlin)

bqLabs - in reply to gigl

Hi gigl!
Please, follow these instructions to build our OpenCV: https://github.com/bq/horus/wiki/Documentation#build-custom-opencv.
For more issues please write in our Google Group: https://groups.google.com/forum/?hl=en#!forum/ciclop-3d-scanner.

Very clever video

you can not make the camera stand into 2 parts.
It is too big

May 4, 2015 - Modified May 4, 2015

16014 bearing.
70 x 110 x 13 mm

what size bearing does this use

16014 bearing. 70 x 110 x 13 mm

Apr 27, 2015 - Modified Apr 27, 2015

Have you considered the following?

  1. Using a raspberry Pi as the control board with the PI camera. Connect via Ethernet or WiFi. Add an embedded web-server to control scanner.
  2. Replace the large bearing on the turntable with a printed hexagonal plate with 6 608ZZ (skateboard) bearings attached to each face with M8 bolts.

Yes, those ideas are in our list for future versions of the device.
Thanks! :)

horus.ino the file is empty

Horus.ino is a hack that allows you to use Arduino IDE. All firmware code is contained in c and h files. It can be build also with make command.

ok thanks.
pattern calibration where is it?

Hi! All design files are in Ciclop GitHub repository. Here is the pattern: https://github.com/bq/ciclop/blob/master/svg/chessboard-pattern.svg.

Hi, where i can get stepper shield for ZUM BT-328?

The Disc-Holder is quite large ... Too large to get printed on a Flashforge or Wanhao printer :-(
Any way you can split this one into four pieces?

An "only Electronics" kit is being considered for sale and would be available soon

When can i buy the Zum scan only for this thing?

I only need the Zum no 328. or the Zum scan?

Mar 31, 2015 - Modified Mar 31, 2015
pierrelesek - in reply to drifterific

This is not the "zum scan" that !!

This is the equivalent " BQ " arduino Uno

I'd also be interested in knowing if they were going to sell an electronics only kit.

Mar 30, 2015 - Modified Mar 30, 2015

If we are here is not to buy the kit, but have the "Zum scan" to build it ...

Where can i find the zum scan shield ?

Can is use this on a imac ?

It will be available soon.

This comment has been deleted.

thickness of the disc? 5mm?


This comment has been deleted.

Can find everything but the ZUM SCAN board. Can this be bought and if so where?

Hi! We will start selling full Ciclop 3D Scanner Kit next week.

Mar 28, 2015 - Modified Mar 28, 2015
Stefan57 - in reply to bqLabs

How much will it cost and will it work with Windows XP / Windows 7 ?

Hi, here is the web page of Ciclop: http://www.bq.com/gb/products/ciclop.html
Horus works for Windows 7 and 8, not in XP.

Can't find it either.

At print3dforumDOTcom you can find a user offering DIY kits with the ZUM scan board...

Mar 26, 2015 - Modified Mar 26, 2015
jem-tech - in reply to bolsoncerrado

thank you for the tip i got the last one. again thanks