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This youtube channel gives a step-by-step tutorial on how to make a simple 3d scanner with 3d printed parts and IR sensors. It outputs the scan data on a SD card which you can then turn into 3d model using MATLAB. The results are somewhat rough and you will need one custom electronic board but it is a nice learning projects.Here is the tutorial video:
STL files can be found here:
http://www.thingiverse.com/thing:1413891
Full code and board design can be found in video description.