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Advanced Settings

In the Advanced Settings menu, you can adopt DAVID to your special requirements. For beginners and “usual scanning”, it is recommended to leave all Advanced Settings unchanged.



In DAVID, all 3d coordinates are given with respect to the same coordinate system “WORLD”:

  • The coordinates of all calibration markers given in Calibpoints.dat
  • The coordinates that are calculated during scanning and later saved in an OBJ file
  • All coordinates that you can specify here

LeftBackgroundPlane and RightBackgroundPlane

DAVID needs to know where your background planes (“wings”) are in order to calculate the correct laser line pose during scanning. Here you can specify those planes, each by a point P and a normal vector N.

  • P (px, py, pz) can be any point that is part of the plane (Standard: 0,0,0)
  • N (nx, ny, nz) is a normal vector that is perpendicular to the plane. Its length is irrelevant. The direction is important: It must point towards the side of the plane where the camera is.

LeftMirrorPlane and RightMirrorPlane

If your setup contains mirrors that allow the camera to see the rear side of the object, you can specify the position of those planes here. It is used for the function “Reflect on Mirror Planes” in the right-click menu of DAVID-Shapefusion.


  • GrabReferenceImageOnStart: The Reference Image is grabber when you click 'Start'. Afterwards, DAVID only looks at differences to that image, this makes it easier to detect the laser line. If your image is perfectly black (except for the laser line), you can choose 'false'. Then the laser does not have to be switched off in the moment when you click 'Start'.
  • MaxLineWidth: Max. width of the laser line in [px] to be expected. Must not be too small!
  • MaxLineIntegral: Minimal sum of the pixel values (0=black, 255=brightest) of the laser line in a column. Increasing this value reduces false detections (outliers). Decreasing allows scanning with a thinner and weaker laser line.


  • Method: There are two methods for calculating the laser plane pose implemented. Method 1 has been used since DAVID 1.0. Method 2 might be better in some cases, but is still experimental.
  • Method1_MaxDistanceFactor
  • Method2_MaxDistanceFactor
  • Method2_MaxTime
  • Method2_MinTime
  • Method2_MinQuality
  • SideWidthFactor: The left and right side of the image shows the laser line on the background planes. This value (ratio of image width) gives the widths of these areas, i.e. in these areas both methods 1 and 2 search for the laser line.



  • DepthThresholdFactor


  • AllowPointsBehindPlanes
  • BackgroundFilterFactor
  • MinTriangulationAngle
  • NewDepthValueWeight


  • TextureSizeX, -Y



  • CompensateDrift
  • PointPairsPerScan


  • IgnoreBorderWidth



See COM Port.


For demonstration purposes only. Simulates a series of mouse clicks to let DAVID operate alone (only Laserscanner part).

user_manual/advanced_settings.txt · Last modified: 2014/06/06 18:38 (external edit)