Scan Mode

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This topic provides descriptions of the parameters in the scan mode.

1. Data Acquisition Method

Description

This parameter, together with the data acquisition buttons, determines how to generate data.

Visibility

Beginner, Expert

Values

  • Frame-Based: Triggers one round of data acquisition each time and generates one acquisition result according to the data output settings.

  • Nonstop: Continuously scans the target object and returns fixed-length data segments after data acquisition is triggered.

Instructions

When each option is selected, the functions of the data acquisition buttons are as follows:

  • Framed-Based +Acquire once buttonsingle cap: Triggers a single round of data acquisition and generates one intensity image and one depth map.

  • Framed-Based + Acquire continuously buttoncontinuous cap: Automatically triggers multiple rounds of data acquisition, generating one intensity image and one depth map after each trigger.

  • Nonstop: Only the continuous capAcquire continuously button is available. Scan the target object continuously.

  • The length of the image(s) or data segment is set by the Scan Line Count parameter in the Trigger Settings category.

  • When scanning the target object continuously, the rate at which scanning is triggered should be below 3000 Hz.

2. Trigger Settings

Select the trigger sources and set relevant parameters.

For the methods of triggering the laser profiler to acquire data in the scan mode, please refer to Methods for Triggering Data Acquisition.

2.1. Data Acquisition Trigger Source

Description

Select the source of the signals that trigger data acquisition. One round of data acquisition scans multiple lines of data, generates multiple profiles, and combines them into one image.

Visibility

Beginner, Expert

Values

  • Software (default)

  • Edge

  • Level

  • Segmented level

Instruction

  • Software: The software sends an acquisition command to acquire one image. Suitable for debugging or scenarios with low real-time requirements.

  • Edge: Triggers one image acquisition on the rising or falling edge of an external digital signal. Suitable for scenarios with high real-time requirements.

  • Level: Continuously acquires data while the external digital signal remains at the active level, until one image is formed. Suitable for scenarios where the length of the target object varies.

  • Segmented level: Performs segmented acquisition while the external digital signal is within the active interval, and combines the segments into one image. Suitable for segmented acquisition of discrete local areas.

2.1.1. Trigger Polarity

This parameter is only visible when the Data Acquisition Trigger Source is set to Edge, Level, or Segmented Level.

Description

Sets the active direction or level state of the trigger signal.

Visibility

Expert

Values

  • Positive polarity (default)

  • Negative polarity

Instruction

  • When the trigger source is set to Edge, positive polarity means rising-edge triggering, and negative polarity means falling-edge triggering.

  • When the trigger source is set to Level or Segmented Level, positive polarity means active high, and negative polarity means active low.

2.1.2. Trigger Delay

Description

Selects whether to set the trigger delay in time or line count.

Visibility

Expert

Values

  • Time (default)

  • Line count

Instruction

After selecting the delay type, you need to set the corresponding Trigger Delay Time or Trigger Delay Line Count.

  • Trigger Delay Time: Sets the delay time between receiving the trigger signal and starting acquisition. Once this parameter is set, the trigger delay shifts the acquisition start and end positions backward while keeping the acquisition range unchanged.

  • Trigger Delay Line Count: Sets the line count for trigger delay between receiving the trigger signal and starting acquisition. Once this parameter is set, the trigger delay shifts the acquisition start and end positions backward while keeping the acquisition range unchanged.

When Data Acquisition Trigger Source is set to Level you can also set the Trigger End Delay Time or Trigger End Delay Line Count corresponding to the Trigger End Delay.

  • Trigger End Delay Time: Sets the duration of continued acquisition after the trigger signal ends. After this parameter is set, the trigger end delay shifts the acquisition end position backward and extends the acquisition range.

  • Trigger End Delay Line Count: Sets the line count for continued acquisition after the trigger signal ends. After this parameter is set, the trigger end delay shifts the acquisition end position backward and extends the acquisition range.

2.1.3. Debounce Time

This parameter is only visible when the Data Acquisition Trigger Source is set to Edge, Level, or Segmented Level.

Parameter Description

Sets the minimum valid duration of the input signal to filter out signal jitter and glitches. When the duration is shorter than this value, the signal is considered invalid and will not trigger acquisition.

Visibility

Expert

Values

  • Value range: 0 to 1000000 μs

  • Default value: 0 μs

Instruction

Setting the debounce time too large may block valid signals. The parameter value should be set based on the pulse width of the valid external input signal.

2.2. Line Scan Trigger Source

Description

Select the source of the signals that trigger the scan of a single line.

Visibility

Beginner, Expert

Values

  • Fixed rate (default)

  • Encoder

  • Encoder A

  • Encoder B

Instruction

  • If you use an encoder to trigger scanning, select Encoder.

  • If you need to trigger scanning at a fixed rate, select Fixed rate.

  • If scanning is triggered by external hardware signals, Please select Encoder A or Encoder B.

Please set Data Acquisition Trigger Source and Line Scan Trigger Source according to the triggering methods used.

After selecting different options, different parameters are displayed in the Line Scan Trigger Source category for adjustment:

2.2.1. Trigger Rate

This parameter is only visible when the Line Scan Trigger Source is set to Fixed Rate.

Description

When Line Scan Trigger Source is set to Fixed rate, set the fixed rate at which the laser profiler is triggered to scan.

Visibility

Beginner, Expert

Values

  • Value range: 1 Hz to the current max scan rate

  • Default value: 1000 Hz

Instruction

  • This parameter determines the Y-axis resolution of the scan data. Please adjust it based on your needs for the Y-axis resolution.

  • If you need the Y-axis resolution of the scan data to be equal to the X-axis resolution, please calculate the appropriate Trigger Rate value according to the following equation:

    Trigger Rate: = travel speed of the target object relative to the laser profiler (μm/s) ÷ X-axis resolution

2.2.2. Trigger Delay Time

Parameter Description

Sets the delay time between receiving a line scan trigger signal and emitting laser light.

Visibility

Expert

Values

  • Value range: 0 to 60000000 μs

  • Default value: 0 μs

Instruction

  • Do not adjust this parameter when Line Scan Trigger Source is set to Fixed rate.

  • Do not adjust this parameter when only one laser profiler is used.

  • When multiple laser profilers are used to scan the same target object, refer to the Adjust Trigger Delay section below for the situation of adjusting this parameter and detailed instructions.
Adjust Trigger Delay

In the following situation, you need to adjust Trigger Delay:

  • Multiple laser profilers are used to scan the same target object.

  • The line scans of all laser profilers are triggered by a single encoder.

  • The FOVs of the laser profilers overlap. The laser profilers will interfere with each other if they emit laser light at the same time.

    trigger delay overlapped fov 1

With an appropriate value of Trigger Delay, laser profilers emit laser light at different times and acquire data without interference.

Adjusting the value of Trigger Delay will have the following impacts:

  • Reduces the max scan rate.

  • Since the laser profilers do not emit laser light and acquire data simultaneously, profiles with the same index do not correspond to the same position on the target object anymore. Such position deviations can be corrected by determining the spatial relationship of sensor heads through calibration.

Follow the steps below to adjust Trigger Delay:

  1. Adjust the parameters of each laser profiler according to Preview Mode, Profile Mode, and Scan Mode, and ensure that the data acquired with each laser profiler meet the requirements.

  2. If more than two laser profilers are used, check the overlap of FOVs:

    Overlap of FOVs

    FOVs of all laser profilers overlap

    FOVs of some laser profilers do not overlap (A and C in the image below)

    Example of spatial relationship

    trigger delay overlapped fov 2

    trigger delay overlapped fov 3

    The purpose of adjusting Trigger Delay is to avoid interference in overlapping FOVs. Since laser profilers A and C in the image to the right of the table do not overlap, they can emit laser light simultaneously. You only need to adjust Trigger Delay for laser profiler B, making it emit laser light after laser profilers A and C.

  3. Follow these steps to set Trigger Delay for laser profilers, referring to the spatial relationship examples and parameter settings in the table below:

    1. Determine which laser profiler should emit laser light first, and keep the default Trigger Delay value of 0 for it.

    2. Determine which laser profiler should emit laser light second, and set the value of Trigger Delay according to the following formula:

      Trigger Delay = 10 μs + Exposure Time of the laser profiler first to emit laser light, window=_blank (Timed Exposure Mode), Exposure Time, window=_blank+Exposure Time2 (Dual-frame HDR Exposure Mode) or Total Exposure Time (Single-frame HDR Exposure Mode) in the HDR Exposure Settings.

      The laser profiler starts exposure 10 μs after emitting laser light to ensure stable brightness of the laser lines in the raw image.

    3. Determine which laser profiler should emit laser light third, and set the value of Trigger Delay according to the following formula:

      Trigger Delay = Trigger Delay of the laser profiler second to emit laser light + 10 μs + Exposure Time of the laser profiler second to emit laser light, window=_blank (Timed Exposure Mode), Exposure Time, window=_blank+Exposure Time2 (Dual-frame HDR Exposure Mode) or Total exposure time (Single-frame HDR Exposure Mode) in HDR Exposure Settings.

    4. Set the value of Trigger Delay for all laser profilers following this logic.

      Example of spatial relationship

      trigger delay overlapped fov 1 1

      trigger delay overlapped fov 2

      trigger delay overlapped fov 3

      Parameter settings

      trigger delay sequence 1

      trigger delay sequence 2

      trigger delay sequence 3

      exposure delay: Exposure delay time:(10 μs)

      exposure time: Exposure Time/Total exposure time

      trigger delay: Trigger Delay

2.2.3. Debounce Time

This parameter is only visible when Line Scan Trigger Source is set to Encoder, Encoder A, or Encoder B.

Parameter Description

Sets the minimum valid duration of the input signal to filter out signal jitter and glitches. When the duration is shorter than this value, the signal is considered invalid and will not trigger acquisition.

Visibility

Expert

Values

  • Value range: 0 to 1000000 μs

  • Default value: 0 μs

Instruction

Setting the debounce time too large may block valid signals. The parameter value should be set based on the pulse width of the valid external input signal.

2.2.4. Encoder Settings

Parameters in this category need to be adjusted when Line Scan Trigger Source is set to Encoder or Encoder A/Encoder B.

Click Edit to open the Encoder Settings tool. You can check the encoder value and motion direction, and calculate the encoder resolution.

If you need the Y-axis resolution of the scan data to be equal to the X-axis resolution, you can also use this tool to get the recommended value of Trigger Interval.

① Trigger Direction

Description

Select the encoder motion direction that triggers scanning.

Visibility

Beginner, Expert

Values

  • Channel A leading (position): Scanning is triggered when channel A is leading. The same position is triggered only once, and it can be triggered again when the robot moves to a new position.

  • Channel B leading (position): Scanning is triggered when channel B is leading. The same position is triggered only once, and it can be triggered again when the robot moves to a new position.

  • Channel A leading (direction): Scanning is triggered when channel A is leading. It is triggered once every encoder interval has passed.

  • Channel B leading (direction): Scanning is triggered when channel B is leading. It is triggered once every encoder interval has passed.

  • Both (default): Scanning is triggered when either channel A or channel B is leading.

The above parameter values are divided into Channel A leading/Channel B leading and Position/Direction/Both.

Channel A leading/B leading determines the direction of the encoder signal that triggers scanning:

leading a

leading b

Position/Direction/Both determines trigger method:

position mode

direction mode

both mode

Position: Each position triggers scanning only once. The negative move will not be triggered, nor will the positive move to an already reached position. It is necessary to move to an previously unreached position before triggering the re-trigger.

Direction: This parameter is triggered every time an encoder interval passes (including the position that has been reached) when the robot moves in the positive direction. Negative move is not triggered.

Both: Scanning is triggered when either channel A or channel B is leading, with scanning triggered once every encoder interval.

Instruction

Adjust this parameter based on the encoder motion direction and the motion direction of the target object relative to the laser profiler.

Check the encoder motion direction in the Encoder Settings tool.
② Trigger Signal Counting Mode

Description

Set the number of quadrature signals to be counted in an encoder period. Counted signals are used to trigger scanning (These signals are trigger signals).

Each encoder period contains 4 quadrature signals, as shown below.

encoder period

Visibility

Beginner, Expert

Values

  • 1× (default): counts 1 signal in an encoder period.

  • 2×: counts 2 signals in an encoder period.

  • 4×: counts 4 signals in an encoder period.

Instruction

This parameter and Trigger Interval together determine the rate at which scanning is triggered.

  • If the rate at which scanning is triggered is greater than the max scan rate of the laser profiler, some data will be lost. Refer to Some Data Were Lost to resolve this issue.

    You can check the current max scan rate of the laser profiler in the upper right of the data display area.

  • The rate at which scanning is triggered determines the Y-axis resolution of the scan data, thus affecting the scan accuracy as well as the aspect ratio of the target object in the intensity image and depth map. For details, please refer to Y-Axis Resolution of Scan Data.

  • If you need the Y-axis resolution of the scan data to be equal to the X-axis resolution, adjust Trigger Interval in the Encoder Settings tool (The value of Trigger Signal Counting Mode may need to be adjusted accordingly).
③ Trigger Interval

Description

Set the number of trigger signals needed for scanning one line.

Visibility

Beginner, Expert

Values

  • Value range: 1 to 65535

  • Default value: 1

Instruction

This parameter and Trigger Signal Counting Mode together determine the rate at which scanning is triggered.

  • If the rate at which scanning is triggered is greater than the max scan rate of the laser profiler, some data will be lost. Refer to Some Data Were Lost to resolve this issue.

    You can check the current max scan rate of the laser profiler in the upper right of the data display area.

  • The rate at which scanning is triggered determines the Y-axis resolution of the scan data, thus affecting the scan accuracy as well as the aspect ratio of the target object in the intensity image and depth map. For details, please refer to Y-Axis Resolution of Scan Data.

  • If you need the Y-axis resolution of the scan data to be equal to the X-axis resolution, please adjust Trigger Interval through the Encoder Settings tool.
④ Trigger Interference Suppression

Parameter Description

Enable this parameter to improve the trigger signal status and avoid false triggering caused by burst noise.

Visibility

Expert

Values

Enable the Trigger Interference Suppression switch:

  • When the switch is enabled, the trigger signal is filtered to remove noise signals.

  • When the switch is disabled, the trigger signal is not processed.

Instruction

In actual working conditions, such as unstable encoder signal sources or signal fluctuations caused by electromagnetic interference in the mechanism, false triggering may occur, affecting data acquisition. If you encounter such problems, it is recommended to enable this switch.
⑤ Encoder Resolution

Parameter Description

Sets the encoder resolution or displays the resolution calculated in the Encoder Settings tool.

Visibility

Beginner, Expert

Values

  • Value range: 0.1 to 1000 μm

  • Default value: 1 μm

Instruction

-
⑥ Encoder Direction Inversion

Parameter Description

Enable this parameter to reverse the encoder direction detection.

Visibility

Beginner, Expert

Values

Default value: Disabled

Instruction

Use when wiring or installation causes the motion direction to be recognized in reverse.

2.3. Scan Line Count

Description

This parameter sets the number of profiles in the acquired data.

Visibility

Beginner, Expert

Values

  • Value range: 1–20000

  • Default value: 850

Instructions

  • When the Data Acquisition Method parameter is set to Frame-Based, this parameter sets the number of profiles needed to generate one intensity image/depth map. Make sure that the set value can cover one target object completely. You can refer to the following equation to calculate the appropriate parameter value:

    Scan Line Count = length of target object (μm) ÷ Y-axis resolution of scan data (μm)

    The set value should be slightly larger than the calculated value.

When the Data Acquisition Method parameter is set to Nonstop, this parameter sets the length of the returned data segments.

2.4. Segmented Line Callback

Parameter Description

Enable this parameter to output acquisition data in segments based on the configured line count.

Visibility

Expert

Values

Enable the Segmented Line Callback switch:

  • When the switch is enabled, acquired data is output in segments according to the set callback line count.

  • When the switch is disenabled, acquired data is output in full frames.

Callback Line Count: Sets how many lines of accumulated data are required to trigger one callback output.

Instruction

  • It is recommended to enable this parameter when you need to process data during acquisition, reduce the amount of data per callback, or improve processing real-time performance.

  • The smaller the Callback Line Count, the more frequently the callbacks are triggered and the smaller the amount of data per callback, but the higher the call overhead.

  • The larger the Callback Line Count, the fewer the callbacks are triggered and the larger the amount of data per callback, which is suitable for scenarios with lower real-time requirements but a focus on processing efficiency.

2.5. High Speed Mode

Parameter Description

Enabling this parameter can improve the data acquisition speed, but the data quality may also decrease.

Visibility

Expert

Values

Enable High Speed Mode:

  • When the toggle switch is turned on, the data acquisition speed is increased, but the data quality may decrease.

  • When the toggle switch is turned off, the data acquisition speed and data quality can be restored to normal.

Instruction

  • When there is a high requirement on the acquisition speed, try enabling this parameter.

  • Once this option is enabled, it is recommended to check the profile integrity, noise level, and edge details according to the actual acquisition results.

  • If the acquisition result does not meet the requirements, it is recommended to disable this parameter or re-adjust it in conjunction with other relevant parameters.

3. ROI

Parameter Description

ROI defines the data processing range, reduces the amount of data to be processed, and enhances the max scan rate.

Support setting a Fixed ROI on the X-Z plane or a Dynamic ROI that varies along the scan direction.

The differences between a fixed ROI and a dynamic ROI are as follows:

Type Description Illustration

Fixed Single Window ROI

The ROI remains unchanged during scanning. At a single Y-axis position, the ROI is a single continuous region in the Z-axis.

Applicable scenarios: Suitable for scenarios where the shape of the measured feature varies little at different scan positions and only one continuous ROI needs to be set at a single laser line position.
width220

Fixed Multi-Window ROI

The ROI remains unchanged during scanning. At a single Y-axis position, the ROI can consist of multiple discrete regions in the Z-axis.

Applicable scenarios: Suitable for scenarios where the measured features are distributed stepwise or stratified at the positions of a single laser line, and ROI windows need to be set separately in different Z-value ranges for selection.
fixed roi multi window

Dynamic ROI

The ROI varies with the Y-axis position. The position or range of the ROI can be dynamically adjusted at different scan positions.

Applicable scenarios: Applicable to scenarios where the target height or shape varies greatly at different scan positions.
dynamic roi

Visibility

Beginner, Expert

Values

  • Fixed (default)

  • Dynamic

Instruction

  • Fixed ROI cannot be edited in the scan mode. If you need to adjust the fixed ROI, please set it in the profile mode. For details, refer to Fixed ROI.

  • To adjust the dynamic ROI, click the Edit button to the right of Edit ROI to open the ROI tool window. For detailed instructions, please refer to Edit ROI.

4. Interference Suppression

Parameters in this category are used to reduce interference factors and improve data quality and reliability.

4.1. Mask

Parameter Description

Use masks to exclude unneeded data, such as noise and laser lines produced by interreflection.

Masks are divided into Fixed Mask and Dynamic Mask.

  • Fixed Mask: The mask region is fixed, suitable for scenarios where the target object is stable and the interference region is fixed.

  • Dynamic Mask: The mask area changes with the scan line, suitable for scenarios where the interference area changes with motion. Dynamic masks can only be edited in the Scan Mode.

Visibility

Beginner, Expert

Values

  • Fixed (default)

  • Dynamic

Enable Mask toggle switch:

  • When the toggle switch is enabled, the added masks will be applied.

  • When the toggle switch is disabled, the added masks will not be applied.

Instruction

  • Fixed Mask: After enabling masks, click the Edit button to the right of Edit Mask to open the Mask Tool window for editing. For details, refer to Use Mask Tool.

  • Dynamic Mask: Once masks are enabled, click the Edit button to the right of Edit Mask to open the Dynamic Mask tool window to set the parameters. For detailed instructions, please refer to Edit Dynamic Mask below.

4.1.1. Edit Dynamic Mask

Before using the Dynamic Mask tool, acquire depth data in the scan mode.

After opening the Dynamic Mask tool window, follow these steps:

  1. Enter the line range of each dynamic region in the Area List on the right, or drag the edge of the region in the image on the left for adjustment.

    To add a dynamic region, click + Add; to delete it, click Delete to the right of the corresponding region.

  2. Click Next to open the dynamic mask editing window.

  3. In the right Mask list, select the dynamic region to edit (such as Dynamic Region 1 Original Image ).

  4. In the toolbar on the left, select the appropriate mask tool to add a mask to the image.

    Please refer to Use Mask Tool for how to use the mask tool.

  5. If there are multiple dynamic regions, repeat steps 3 to 4 to edit the masks of other dynamic regions.

  6. After configuration, click Apply to save the settings and exit the tool.

  7. Acquire data again in the scan mode to check the effect of dynamic masks. If the result does not meet your requirements, please re-enter the tool and adjust it.

5. Dynamic Optimization

Parameter Description

hen the surface properties of the target object vary significantly across different areas in the scan direction (e.g., black plastic and highly reflective metal), you can divide the scan direction into multiple areas and configure parameters for each area separately to meet different imaging requirements.

Visibility

Expert

Values

Default value: Disabled

Instruction

After enabling Dynamic Optimization, click the Edit button to the right of the Edit Dynamic Optimization area to open the Dynamic Optimization window and configure settings. For detailed instructions, please refer to Configure Dynamic Optimization below.

h “Dynamic Optimization” is enabled, the following functions are unavailable in the preview mode:

5.1. Configure Dynamic Optimization Region

Before using the dynamic optimization tool, acquire depth data in the scan mode.

After opening the Dynamic Optimization window, follow these steps:

  1. Enter a line range for the Dynamic Optimization area in the Region List on the right, or drag the edge of the area in the image on the left for adjustment.

    To add a dynamic region, click + Add; to delete it, click Delete to the right of the corresponding region.

  2. Click the Next button to enter the Parameter Configuration interface.

  3. In the Dynamic Optimization Region list on the left, select the region to be configured (such as Area0).

  4. In the right Configure Parameters panel, you can select whether to display Dynamic Mask, to check the effect of masks in the current area.

    Configure the following parameters according to the surface characteristics of the region:

  5. If there are multiple regions, repeat steps 3 to 4 to configure the parameters in other regions.

    Click the Region Parameter Configuration button next to the Dynamic Parameter Configuration dynamic optimization overview icon list on the left. You can view and modify the parameters of all regions in a centralized manner in the table.

  6. After configuration, click Apply to save the settings and exit the tool.

  7. Acquire data again in the scan mode to check the effect of dynamic optimization. If the result does not meet your requirements, please re-enter the tool and adjust it.

6. Resolution

Sets the X-axis resolution of the scan data and the Y-axis resolution of the point cloud.

6.1. X-axis Resolution

Description

Sets the X-axis resolution of the scan data, which is the distance between two neighboring points along the direction of the laser line.

Visibility

Beginner, Expert

Values

  • Value range (μm):

    • LNX-7030-GL：11μm（2~66μm)

    • LNX-7045-GL：15μm（3~90μm)

    • LNX-7080-GL：25μm（4~150μm)

    • LNX-7150-GL：50μm（8~300μm)

    • LNX-7300-GL：80μm（13~480μm)

    • LNX-7600-GL：150μm（25~900μm)

  • Increment: 0.1 μm

Instruction

  • The X-axis Resolution only takes effect when the Sampling Mode is set to Uniform Spacing.

  • When the value of X-Axis Resolution is the same as the Y-axis resolution of scan data, the aspect ratio of the object in the scan data matches the actual object.

  • If you need the X-axis and Y-axis resolutions of the scan data to be the same while the Y-axis resolution cannot be modified by adjusting parameters such as Trigger Signal Counting Mode, adjust this parameter.

6.2. Y-axis Resolution Mode

Parameter Description

Select the mode for setting the Y-axis resolution.

Visibility

Beginner, Expert

Values

  • Auto

  • Manual (default)

Instruction

  • When it is set to Auto, the Y-axis resolution is automatically calculated and displayed by the system based on the current trigger parameters.

  • When it is set to Manual, you can enter the Y-axis resolution manually.

  • Please select the setting method according to the application requirements: Use Manual when the Y-axis resolution needs to be fixed; use Auto when the system needs to automatically calculate the value based on the current trigger parameters.

The Auto mode is unavailable when Line Scan Trigger Source is set to Fixed Rate.

6.2.1. Y-axis Resolution

Parameter Description

Sets the Y-axis resolution of the scan data, which is the distance between two neighboring points along the travel direction of the target object.

Visibility

Beginner, Expert

Instruction

When the Y-Axis Resolution Mode is set to Auto, this parameter is read-only and is calculated as follows:

  • When Line Scan Trigger Source is set to Fixed rate:

    Y-Axis Resolution (μm) = Travel Speed (mm/s) ÷ Trigger Rate (Hz) × 1000

  • When Line Scan Trigger Source is set to Encoder:

    Y-Axis Resolution (μm) = Encoder Resolution (μm) × Trigger Interval × 4 ÷ Trigger Signal Counting Mode

  • When Line Scan Trigger Source is set to Encoder A or Encoder B:

    Y-Axis Resolution (μm) = Encoder Resolution (μm) × Trigger Interval ÷ Trigger Signal Counting Mode × 2

6.2.2. Y-Axis Resampling Multiplier

Parameter Description

Set the resampling multiplier of the scan data along the Y-axis.

Visibility

Expert

Values

  • 1× (default)

  • 2x

  • 3x

  • 4x

Instruction

Selecting 2× doubles the number of data rows through resampling; selecting 3× triples it, and so on. This parameter can be used to increase data density along the Y-axis.

7. Correction

The parameters in this category are used to correct the height and direction deviations of the profiles.

Direction Correction is mutually exclusive with Tilt Correction and Height Correction. Once this option is enabled, other correction functions will be disabled.

7.1. Tilt Correction

Parameter Description

Correct the tilt of the profile, which is caused by the rotation of the laser profiler around the Y-axis.

Visibility

Beginner, Expert

Values

Enable Tilt Correction toggle switch:

  • When the toggle switch is turned on, the tilt correction result will be applied to the profiles.

  • When the toggle switch is turned off, the tilt correction result will not be applied to the profiles.

Tilt Correction Angle:

  • Value range: –90.000° to 90.000°

  • Default value: 0.000°

Instruction

For detailed instructions, refer to Tilt Correction.

7.2. Height Correction

Parameter Description

Correct the height error in the profile, which is caused by the rotation of the laser profiler around the X-axis.

Visibility

Beginner, Expert

Values

Enable Height Correction toggle switch:

  • When the toggle switch is turned on, the height correction result will be applied to the profiles.

  • When the toggle switch is turned off, the height correction result will not be applied to the profiles.

Height Correction Ratio:

  • Value range: 0.5 to 2

  • Default value: 1.000

Instruction

For detailed instructions, refer to Height Correction.

7.3. Motion Direction Correction

Parameter Description

This tool is used to correct the distortion in the point cloud caused by the inconsistency between the actual motion direction and the axis direction of the laser profiler. Motion direction is defined by the azimuth angle and elevation angle together.

Visibility

Beginner, Expert

Values

Enable the Motion Direction Correction:

  • When the toggle switch is turned on, the motion direction correction result will be applied.

  • When the toggle switch is turned off, the motion direction correction result will not be applied.

Azimuth angle:

  • Range: –180° to 180°

  • Default value: 90°

Elevation angle:

  • Range: 0° to 180°

  • Default value: 90°

Instruction

For detailed instructions, refer to Motion Direction Calibration.

8. Point Cloud Optimization

The parameters in this category are used to optimize the generated point cloud. After adjusting the parameters, click Apply on the right to view the results.

8.1. Normal filtering

Parameter Description

Filters surface point clouds based on normal vectors to remove noise points caused by excessive surface undulation or steep edges.

Visibility

Beginner, Expert

Values

Enable Normal filtering switch:

  • When the toggle switch is turned on, normal filtering settings will be applied.

  • When the toggle switch is turned off, normal filtering settings will not be applied.

Filtering Intensity:

  • Value range: Very low, Low, Medium, High, Very high

  • Default value: Very low

Instruction

Higher levels remove more noise but may result in greater detail loss. When selecting Customized, the following parameters need to be set.

8.1.1. Custom Parameter Settings

Parameters Parameter Description Value range Default value

Max Polar Angle

Limits the upper limit of the angle between the normal vector and the Z-axis. Points whose normal vector forms an angle greater than this value are filtered out.

0°~360°

70°

Min Polar Angle

Limits the lower limit of the angle between the normal vector and the Z-axis. Points whose normal vector forms an angle less than this value are filtered out.

0°~70°

0°

Min Z Angle

Limits the lower limit of the angle between the normal vector projected onto the XY plane and the X-axis. Points whose normal vector forms an angle less than this value are filtered out.

0°~360°

0°

Max Z Angle

Limit the upper limit of the angle between the normal vector projected onto the XY plane and the X-axis. Points whose normal vector forms an angle greater than this value are filtered out.

0°~360°

360°

Half Kernel Size

Controls the neighborhood radius for normal estimation. A larger value produces smoother normals.

0~30

2

Noise Removal Level

As noise can be introduced by normal estimation, select the noise removal level according to the tolerance for noise removal. A higher level provides stronger noise removal.

Close, Low, Medium, Height

Low

Smoothing Window Size

Window size for mean smoothing. Apply mean smoothing to the surface data before filtering the normals to avoid abrupt normal changes due to noise.

1~99

3

Point clouds before and after turning onNormal Filtering (all other conditions identical):

Before After

normal filtering off

normal filtering on

8.2. Connected Noise Removal

Parameter Description

Remove small noise areas separated from the main point cloud.

Visibility

Beginner, Expert

Values

Enable Connected Noise Removal toggle switch:

  • When the toggle switch is turned on, noise removal settings will be applied.

  • When the toggle switch is turned off, noise removal settings will not be applied.

Noise Removal Intensity:

  • Value range: Very low, Low, Medium, High, Very high

  • Default value: Low

Instruction

Higher intensity removes more noise but may result in greater detail loss. When selecting Customized, the following parameters need to be set.

8.2.1. Custom Parameter Settings

Parameters Parameter Description Value range Default value

Depth Similarity Threshold

Sets depth similarity threshold. If the depth difference between two neighboring points is less than or equal to this threshold, the points are considered similar and grouped into the same region.

0~600

0.36

Neighborhood Type

Determines which points around a point are considered its neighboring points. You can choose to identify the four immediate points above, below, left, and right of a point as its four neighbors, or identify the horizontal and vertical neighbors (as in 4-neighbor) and its four diagonal neighbors are its eight neighbors.

  • 4-neighbor

  • 8-neighbor

8-neighbor

Noise Detection Method

Sets noise detection method. You can choose to judge whether it is a small noise region based on the number of points or size.

  • Number of Points

  • Dimensions

Number of Points

Max Noise Region Point Count

Sets the maximum number of points for a region to be considered noise. If the number of points in a region does not exceed this value, the region is identified as noise and removed.

This parameter is only effective when Noise Detection Method is set to Point Count.

1~99999999

1000

Max size X/Y/Z

Sets the maximum size for a region to be determined as noise in the X, Y, and Z directions, respectively.

This parameter is only effective when Noise Detection Method is set to Size.

X/Y：0~1000mm; Z：0~600mm

2.0mm

Point clouds before and after turning onConnected Noise Removal (all other conditions identical):

Before After

connected noise removal off

connected noise removal on

8.3. Surface Noise Removal

Parameter Description

Remove noise deviating from the main surface in the point cloud while preserving the effective surface structure as much as possible.

Visibility

Beginner, Expert

Values

Enable Noise Removal toggle switch:

  • When the toggle switch is turned on, surface noise removal settings will be applied.

  • When the toggle switch is turned off, surface noise removal settings will not be applied.

Instruction

After enabling, set the following parameters.

8.3.1. Surface Type

Parameter Description

Selects the expected surface type of the point cloud to be processed. This type will serve as the basis for surface noise detection.

Visibility

Beginner, Expert

Values

  • Value range: Plane, Curved surface, Stepped surface

  • Default value: Stepped surface

Instruction

Please select the corresponding type according to the main surface morphology of the object to obtain more stable detection results.
Plane Identification Strictness

When Surface Type is set to Plane, this parameter needs to be set.

Parameter Description

Sets the strictness for removing noise based on plane features. A higher strictness requires the surface to match plane features more closely, so noise is removed only in regions that are closer to a plane, and fewer points are removed.

Visibility

Beginner, Expert

Values

  • Value range: Low, Medium, High

  • Default value: High

Instruction

  • Low: The lowest strictness. The most points are removed.

  • Medium: Balances the plane identification requirement and the noise removal effect.

  • High: The highest strictness. The fewest points are removed.

8.3.2. Noise Removal Density

Parameter Description

Sets the processing density for surface noise removal. A higher density provides more thorough noise removal but increases processing time. A lower density improves processing speed but may weaken the noise removal effect.

Visibility

Beginner, Expert

Values

  • Value range: Low, Medium, High

  • Default value: High

Instruction

  • Low: Uses the lowest processing density, provides the fastest speed, and removes noise more conservatively.

  • Medium: Balances the noise removal effect and processing speed.

  • High: Uses the highest processing density and removes noise more thoroughly, but requires more processing time.

8.3.3. Noise Removal Tolerance

Parameter Description

Sets the tolerance for removing surface noise. A larger value makes noise removal less strict, so fewer points are removed.

Visibility

Beginner, Expert

Values

  • Value range: 1 to 4

  • Default value: 3

Instruction

Increase this value appropriately when valid points are mistakenly deleted; decrease this value appropriately when there is too much residual noise.

8.3.4. Surface Continuity Constraint

Parameter Description

After this parameter is enabled, surface continuity is preserved as much as possible during noise removal to reduce surface breaks or holes.

Visibility

Expert

Values

Default value: Enabled

Instruction

Recommended for scenarios with high requirements for continuity; for more aggressive noise removal, compare the results with the disabled state.

Point clouds before and after turning onSurface Noise Removal (all other conditions identical):

Before After

surface noise removal off

surface noise removal on

8.4. Outlier Processing

Parameter Description

Quickly removes outliers (flying points, isolated noise points, edge artifacts, etc.) from the point cloud and fills gaps.

Visibility

Beginner, Expert

Values

Enable the Outlier Processing switch:

  • When the switch is enabled, outlier processing settings will be applied.

  • When the switch is disabled, outlier removal settings will not be applied.

Processing Intensity:

  • Value range: Level 1~9

  • Default value: Level 5

Instruction

A higher level provides stronger noise removal and weaker gap filling. A lower level provides stronger gap filling and weaker noise removal.

Point clouds before and after turning onOutlier Processing (all other conditions identical):

Before After

outlier processing off

outlier processing on

8.5. Edge Warping Suppression

The parameters in this group are used to suppress point cloud warping at object edges in scanned data.

The leading edge refers to the object edge at the start of scanning, and the trailing edge refers to the object edge at the end of scanning. Both sides can be configured independently.

8.5.1. Leading Edge Warping Suppression

Parameter Description

Enable this parameter to detect and suppress warping in the leading-edge region at the end of scanning.

Visibility

Expert

Values

Enable the Leading Edge Warping Suppression switch:

  • When the toggle switch is turned on, leading edge warping suppression settings will be applied.

  • When the toggle switch is turned off, leading edge warping suppression settings will not be applied.

Instruction

After enabling, you need to set the Warping Line Count and Warping Direction below.

8.5.2. Trailing Edge Warping Suppression

Parameter Description

Enable this parameter to detect and suppress warping in the trailing-edge region at the end of scanning.

Visibility

Expert

Values

Enable Trailing Edge Warp Suppression switch:

  • When the toggle switch is turned on, trailing edge warping suppression settings will be applied.

  • When the toggle switch is turned off, trailing edge warping suppression settings will not be applied.

Instruction

After enabling, you need to set the Warping Line Count and Warping Direction below.
Warp Height Threshold

This parameter is a shared threshold for Leading Edge Warping Suppression and Trailing Edge Warping Suppression.

Parameter Description

Sets the height threshold for edge warping, which is defined as the height difference between the outermost point in the point cloud and the corresponding plane. Undulations exceeding this threshold are identified as warping.

Visibility

Expert

Values

  • Value range: 0.01 to 1000

  • Default value: 0.1

Instruction

The smaller the threshold, the more sensitive the judgment; the larger the threshold, the more relaxed the judgment.
Warping Line Count

Leading Edge Warping Suppression and Trailing Edge Warping Suppression each have independent Warping Line Count parameters, which can be configured separately.

Parameter Description

Sets the number of lines measured inward from the scan edge. Point cloud data within this range is used for warping detection and suppression. A larger value applies suppression to a wider edge region.

Visibility

Expert

Values

  • Value range: 2 to 32

  • Default value: 8

Instruction

A larger value applies suppression to a wider edge region.
Warping Direction

Leading Edge Warping Suppression and Trailing Edge Warping Suppression each have independent Warping Direction parameters, which can be configured separately.

Parameter Description

Specifies the geometric direction of edge warping for more accurate suppression.

Visibility

Expert

Values

  • Value range: Downward warping, Upward warping

  • Default value: Downward warping

Instruction

  • Downward warping: The edge point cloud bends downward as a whole.

  • Upward warping: The edge point cloud bends upward as a whole.

Point clouds before and after turning onEdge Warping Suppression (all other conditions identical):

Before After

edge warping suppression off

edge warping suppression on

8.6. Uniform Smoothing

Parameter Description

Perform uniform smoothing on the point cloud surface to reduce overall noise and depth fluctuations.

Visibility

Beginner, Expert

Values

Enable the Uniform Smoothing switch:

  • When the toggle switch is turned on, uniform smoothing settings will be applied.

  • When the toggle switch is turned off, uniform smoothing settings will not be applied.

X-Axis Smoothing Intensity:

  • Value range: Level 1~6, Custom

  • Default value: Level 3

Y-Axis Smoothing Intensity:

  • Value range: Level 1~6, Custom

  • Default value: Level 3

Instruction

A higher level produces stronger smoothing in X but weaker detail preservation.
When Custom is selected, X-Axis Window Size and Y-Axis Window Size must be set. A larger value produces stronger smoothing.

Point clouds before and after turning onUniform Smoothing (all other conditions identical):

Before After

uniform smoothing off

uniform smoothing on

8.7. Denoising Smoothing

Parameter Description

Suppresses spike noise in the point cloud while largely preserving edge features.

Visibility

Beginner, Expert

Values

Enable the Denoising Smoothing switch:

  • When the toggle switch is turned on, denoising smoothing settings will be applied.

  • When the toggle switch is turned off, denoising smoothing settings will not be applied.

X-Axis Smoothing Intensity:

  • Value range: Level 1~5, Custom

  • Default value: Level 3

Y-Axis Smoothing Intensity:

  • Value range: Level 1~5, Custom

  • Default value: Level 3

Instruction

Higher levels provide stronger suppression of isolated noise points, but increase the risk of detail loss.

When Custom is selected, X-Axis Window Size and Y-Axis Window Size must be set. Larger values suppress abnormal points over a wider range, but may weaken local details.

Point clouds before and after turning on Denoising Smoothing (all other conditions identical):

Before After

denoising smoothing off

denoising smoothing on

8.8. Gap Filling

Parameter Description

Fills missing regions in the point cloud caused by data loss, improving point cloud completeness.

Visibility

Beginner, Expert

Values

Enable Gap Filling:

  • When the toggle switch is turned on, gap filling settings will be applied.

  • When the toggle switch is turned off, gap filling settings will not be applied.

X/Y-Axis Filling Window Size:

  • Value range: 0 to 99

  • Default value: 9

Filling Method:

  • Value range: Min Z value, Max Z value, Linear filling

  • Default value: Linear filling

Instruction

  • X/Y-Axis Filling Window Size: Sets the neighborhood window size for filling computation in the X and Y directions. A larger value allows filling of wider gaps but may introduce data from more distant points, causing filling deviation.

  • Filling Method: Sets the method used to fill gaps.

    • Max Z value: Fills gaps based on the maximum Z value among the valid points on both sides of the gap.

    • Min Z value: Fills gaps based on the minimum Z value among the valid points on both sides of the gap.

    • Linear filling: Fills gaps by linear interpolation based on the valid points on both sides of the gap.

Point clouds before and after turning on Gap Filling (all other conditions identical):

Before After

gap filling off

gap filling on

8.9. Profile Alignment

The parameters in this category correct the X-axis and Z-axis vibrations in the profiles.

8.9.1. X-Axis Profile Alignment

Description

This tool corrects the X-axis vibrations in the profiles.

Visibility

Expert

Values

Enable X-Axis Profile Alignment toggle switch:

  • When the toggle switch is turned on, settings for X-axis profile alignment will be applied.

  • When the toggle switch is turned off, settings for X-axis profile alignment will not be applied.

Instruction

Acquire data, and then click Edit to open the tool. For detailed instructions, refer to X-Axis Profile Alignment.

Depth maps before and after turning on X-Axis Profile Alignment (all other conditions identical):

Target object (demonstration) Before After

x profile alignment object

x profile alignment off

x profile alignment on

8.9.2. Z-Axis Profile Alignment

Description

This tool corrects the Z-axis vibrations in the profiles.

Visibility

Expert

Values

Enable Z-Axis Profile Alignment toggle switch:

  • When the toggle switch is turned on, settings for Z-axis profile alignment will be applied.

  • When the toggle switch is turned off, settings for Z-axis profile alignment will not be applied.

Instruction

Acquire data, and then click Edit to open the tool. For detailed instructions, refer to Z-Axis Profile Alignment.

Point clouds before and after turning on Z-Axis Profile Alignment (all other conditions identical):

Target object (demonstration) Before After

z profile alignment object

z profile alignment off

z profile alignment on

8.10. Enable Blind Spot Filtering

Blind spots are the areas on the target object surface where reflected laser lights are blocked.

However, if the surface of the target object has closely-spaced dents and bumps, such as PCBs, interreflection of the laser light might occur, thus producing false data near the blind spots. Interreflection can lead to incorrect data near blind spots. You can remove the false data by enabling the Blind Spot Filtering feature.

Description

Identifies and removes false data caused by blind spots, thereby avoiding influence on further data processing.

Visibility

Expert, Guru

Values

Enable Blind Spot Filtering toggle switch:

  • When the toggle switch is turned on, blind spot filtering settings will be applied.

  • When the toggle switch is turned off, blind spot filtering settings will not be applied.

Y-axis resolution: Displays the Y-axis resolution of the scan data.

Filtering intensity: Displays the intensity of blind spot filtering.

  • Low: relatively low filtering intensity but high processing speed.

  • Medium: balanced filtering intensity and processing speed.

  • High: high filtering intensity but relatively low processing speed.

Instruction

Acquire data, and then click Edit to open the tool. For detailed instructions, refer to Blind Spot Filtering.

Point clouds before and after turning on Blind Spot Filtering (all other conditions identical):

Target object Before After

bga solder balls

blind spot filtering off

blind spot filtering medium

8.11. Edge Preserving Smoothing

Parameter Description

Reduces noise and depth fluctuations on the point cloud surface while preserving object edge details as much as possible.

Visibility

Beginner, Expert

Values

Enable the Edge Preserving Smoothing:

  • When the toggle switch is turned on, edge preserving smoothing settings will be applied.

  • When the toggle switch is turned off, edge preserving smoothing settings will not be applied.

Smoothing Intensity:

  • Value range: Low, Medium, High

  • Default value: Medium

Instruction

A higher level produces stronger smoothing but weaker detail preservation on the object’s surface.

Point clouds before and after enabling Edge Preserving Smoothing and Uniform Smoothing (all other conditions identical):

Smoothing Disabled Edge Preserving Smoothing Uniform Smoothing

edge preserving smoothing off

edge preserving smoothing on

compare with uniform smoothing on
Uniform smoothing applies the same intensity of smoothing to all areas, which weakens object edges and shape details; Edge preserving smoothing suppresses surface noise while preserving edge features.

9. Data Output Settings

Parameters in this category are used to configure parameters related to output data, including sampling method, data type, and image enhancement parameters.

9.1. Sampling Method

Parameter Description

Set the sampling method for data output.

Visibility

Beginner, Expert

Values

  • Uniform Spacing (default)

  • Non-uniform Spacing

Instruction

If you need to output the profile data with a fixed point spacing, select Uniform Spacing; if you need to keep the original sampling position, select Non-uniform Spacing.

When Non-uniform Spacing is selected, the depth map cannot be output.

9.2. Data Type

Parameter Description

Set the type of output data. You can choose to output the intensity image or width image or not.

Visibility

Beginner, Expert

Values

  • Intensity Image (default)

  • Width Image

  • Do Not Output

Instruction

Select the data type to be output according to the actual application requirements.

9.3. Image Enhancement

Parameter Description

Enhances image contrast and improves the display effect. Enable this parameter to apply the image enhancement effect to the image.

Visibility

Beginner, Expert

Values

Enable the Image Enhancement toggle switch:

  • When the toggle switch is enabled, the image enhancement effect is applied to the image.

  • When the toggle switch is disabled, no enhancement effect will be applied to the image.

Instruction

You can enable this parameter when there is a requirement for the image display effect. Once enabled, you can adjust the enhancement parameters in Image Enhancement Settings.

9.3.1. Image Enhancement Adjustment

Once Image enhancement is enabled, you can adjust the grayscale mapping curve and Gamma correction value through Image Enhancement Settings to optimize image contrast and overall brightness and darkness. These can be adjusted independently or combined for additive effect.

Please follow these steps:

  1. Click Edit to the right of Image Enhancement to open the Image Enhancement Settings window.

  2. Adjust the grayscale mapping curve: Drag knee points in the image or directly input the Input and Output values of the knee points below to adjust the mapping relationship between different grayscale intervals.

    Click Reset to the right of Contrast to restore the default value of the curve.

  3. Set Gamma Correction Value: Adjust the Gamma Correction Value to adjust the overall brightness and darkness of the image. The larger the value, the darker the image. The smaller the value, the lighter the image.

  4. After adjusting to the expected display, click Apply.

10. I/O Port Configuration

The parameters in this category are used to configure the input and output signals of the I/O ports of the laser profiler.

10.1. Configurable I/O

Bidirectional port that can be configured as input or output. Select the corresponding function based on the signal direction.

10.1.1. Mode

Parameter Description

Sets the signal direction of the configurable I/O.

Visibility

Expert

Values

  • Input

  • Output (default)

Instruction

  • Input: Receive signals input from external devices (such as encoders, PLCs, sensors).

  • Output: Output signals to external devices.

10.1.2. Function

Parameter Description

Sets the function of the configurable I/O. The available options will change according to the Modesettings.

Visibility

Expert

Values

When Mode is Input:

  • Encoder Z (default)

  • Laser safety

When Mode is Output:

  • Exposure sync

Instruction

  • Encoder Z: Use the configurable I/O as an encoder Z signal input, suitable for scenarios such as encoder homing.

  • Laser safety: Controls the laser switch via an external input signal for safety protection.

  • Exposure sync: Output a signal synchronized with exposure for external devices to perform synchronous acquisition.

10.1.3. Polarity Inversion

Parameter Description

Inverts the signal logic of the configurable I/O. In Input mode, it affects the trigger edge; in Output mode, it affects the output level.

Visibility

Expert

Values

Enable the Polarity Inversion switch:

  • When the toggle switch is turned on, the signal logic is inverted.

  • When the switch is turned off, the signal logic maintains the original settings.

Instruction

When enabled, reverses the polarity of the output signal. In Output Mode, high level and low levels are swapped; in Input Mode, rising and falling edges are swapped.

10.2. Output 1 and Output 2

Sets the behavior of output port, including trigger event and signal polarity.

10.2.1. Event

Parameter Description

Selects the event type that triggers the output signal.

Visibility

Expert

Values

  • Exposure sync (default value for Output 1)

  • Acquisition ready

  • Line trigger overrun

  • Frame trigger overrun

  • Custom (default value for Output 2)

10.2.2. Polarity Inversion

Parameter Description

When enabled, the level logic of the output signal is reversed, meaning high becomes low, and low becomes high.

Visibility

Expert

Values

Enable the Polarity Inversion switch:

  • When the switch is turned on, the output signal logic is inverted.

  • When the switch is turned off, the output signal maintains the original logic.

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