finally got to use threejs with a hardware project 
the rig
my proudest and creepiest selfie
laser floor plan
details!
I can share the code if anyone wants. I used a python websocket for threejs and a serial connection to the hardware through a usb
How complicated and expensive is it to setup this rig? I worked in two AV companies but all i got were blobs of bytes that i had to draw with webgl, not even always with three.
This is just hardware reporting points in 3d space via a web server, there is no ROS or something like that involved? I am so embarrassed to not know anything about this. What would ROS replace in your pipeline if anything?
edit
By just, i mean, a lot of code running and figuring out where these servos are at and voltages and phases and cycles and all that, which feels like rocket science to begin with 
Love that hardware rig! The giant neo magnet for weight/stability is a nice touch.
Looks like you’re getting good resolution!
about ~200$ USD. The lidar module was 130$, chips and motors were about $45. My most expensive personal project… If you have a 3D printer you could save some cost!
Arduino code keeps track of the angles and distance, sends data to a python websocket/flask_function which sends the data to the JS. I would like to explore other methods though! And arduino libraries made kepping track of the motors position(s) pretty easy.
I would attach the code but im afraid ive changed too much since i posted. Here are the libraries and core functions used
arduino/C++
#include <Adafruit_MotorShield.h>
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_StepperMotor *myMotor = AFMS.getStepper(200, 2);
#include <Servo.h>
Servo myservo;
#include <Wire.h>
#include <LIDARLite.h>
LIDARLite myLidarLite;
// ..
// more code im not showing...
// ..
for (int tilt = 90; tilt >= 0; tilt -= 1) { // goes from 0 degrees to 90 degrees
for(int pan = 0;pan<600;pan+=1)
{
myMotor->step(1, FORWARD, SINGLE); // 600 steps for full turn 20/60 teeth setup, 200 * 60/20 ; INTERLEAVE --> 1200, 400 full full turn
delay(2);
Serial.print(dTilt*tilt,6);
Serial.print("-");
Serial.print(dPan*pan,6);
Serial.print("-");
Serial.println(myLidarLite.distance());
}
myservo.write(tilt);
}
Python
from flask import Flask, render_template, request, jsonify
import json
from flask_sock import Sock
import serial
arduino_port = "/dev/cu.usbmodem101" # serial port of Arduino
baud = 9600
ser = serial.Serial(arduino_port, baud)
# ..
# more code im not showing...
# ..
@sock.route('/echo')
def echo(sock):
while True:
lidarData = ser.readline()
lidarDataSplit = lidarData.decode('utf-8')[0:-1].split('-')
distance = int(lidarDataSplit[2])
di.update(float(lidarDataSplit[0]), -float(lidarDataSplit[1]), distance)
data = {
'xyz': di.xyz,
'rgb': f2rgb.to_rgba(distance)[:3],
'size': (distance-5)/495 + 1
}
print(f"running...: {counter.idx * cInv:.2f}%, distance: {distance}")
sock.send(json.dumps(data))
counter.update()
Thanks! Glad you noticed the counter weight, it’s actually a big piece of tungsten. Didn’t think i would ever use it practically lol. 600 steps in the pan direction and 90 steps in the tilt direction
v2
made a github with the python threejs code
Get that thing strapped to a stepped scalextric track 
This is so freakin cool.
I remember about 10 years ago, I tried to build a scanner with a webcam a laser, some servos, and a glass prism to spread the beam out, then infer the depth from binocular camera capture.
All I ever got out of it was a fuzzy mess… It’s super satisfying to see the real deal. It’s exactly how I imagined it.
Also additive blended point clouds are just so… wicked looking.