3D imaging for engine assembly inspection

An engine inspection method, the method comprising:

• rotating a component of an engine assembly;
• projecting, from a light source, a light projection onto the component of the engine assembly within a field of view of an optical sensor inserted into the engine assembly via an insertion tool;
• receiving, at a processor, data comprising a plurality of frames from the optical sensor, the data being captured while the component of the engine assembly is rotating and the light projection is projected onto the component;
• determining, with the processor, an angular displacement of the component between a first frame and a second frame of the plurality of frames;
• determining, with the processor, a first set of points based on a first image of the light projection in the first frame;
• determining, with the processor, a second set of points based on a second image of the light projection in the second frame;
• and
• forming, with the processor, a 3D point cloud of the component based on combining the first set of points and the second set of points based on the angular displacement of the component between the first frame and the second frame.