ProjectMay 30, 2026

Orbiter v0.1 — Lab-Kit Pan-Tilt Camera Rig

A two-axis Wi-Fi-controlled pan-tilt camera rig for taking calibrated photo sets of small objects. Open hardware + firmware + server + UI, packaged as a lab kit you can build on a weekend.

Orbiter — 3/4 isometric render of the assembled pan-tilt rig showing the platform, GT2 belt reduction, and elevation arm

Orbiter — front view, showing platform, belt reduction, elevation arm, and camera mount

Orbiter — side view, showing the elevation arm pitch range and rocker geometry

Orbiter — top view, showing the GT2 100-tooth output pulleys on the AZ and EL axes

OrbitFrame — the main vertical structure that holds the elevation arm

AxisFrame — the elevation-axis pivot frame

GT2 100-tooth output pulley with a press-fit recess for the diametric encoder magnet

BarHolderInsert — captures the camera arm into the elevation rocker

HallSensorMount — holds the magnetic encoder breakout above the output-shaft magnet

PlatformInsert — top surface of the rotating platform

TableSupportFrame — base structure under the rotating platform

A two-axis Wi-Fi-controlled pan-tilt rig for small objects. The platform spins under a camera arm that pitches between horizontal and straight-down; at any pose the server records a photo with its 6-DOF camera extrinsic.

Under the hood

CAD — printable parts + full assembly (.glb / .fbx / .obj).
Firmware — ESP-IDF v6 on ESP32. Treats the rig as a generic 2-axis IP actuator with absolute encoder feedback (AS5600 + AS5048A).
Server — FastAPI. Owns the scan-session state, talks to the ESP32 and the camera, writes manifests and photo files.
UI — Vite + React + react-three-fiber. Two tabs: Scaner (live 3D + motion control) and Library (sessions + hemisphere of photos).
Optional COLMAP container consumes the session's SfM-priors JSON to jump straight to dense reconstruction.