Can my messy 3D scanner code be optimized?

Hello, we built a 3D scanner and used processing to calculate the cartesian coordinates from the image and output to .asc -file. My code is here:

The code and markings are written in Finnish, but I will try to clarify the code below a bit:

My questions:

1. So about NoLoop - function, where should I put it?

2. In my function pyorita(), which sends serial data to Arduino, which turns the scanner platter, I must have 1000ms delay, otherwise the program will crash. This makes my program run slow, though. Could this be optimized anyhow? (If I remove the delay, it will just print me "-1" "-1" "-1" in the console with red font (error))s

3. Could I anyhow see the latest picture taken by scanner? Now the screen is black until the scan is fully complete. In the end, it shows the LAST (200th) raw picture it took.

here is my code as it seems impossible for me to properly send it here: http://hietanen.xyz/paste/?paste=8