CN106803266A - A kind of hull complexity outside plate point cloud costal line extracting method and device - Google Patents
A kind of hull complexity outside plate point cloud costal line extracting method and device Download PDFInfo
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- CN106803266A CN106803266A CN201710090964.3A CN201710090964A CN106803266A CN 106803266 A CN106803266 A CN 106803266A CN 201710090964 A CN201710090964 A CN 201710090964A CN 106803266 A CN106803266 A CN 106803266A
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- ISTFUJWTQAMRGA-UHFFFAOYSA-N iso-beta-costal Natural products C1C(C(=C)C=O)CCC2(C)CCCC(C)=C21 ISTFUJWTQAMRGA-UHFFFAOYSA-N 0.000 title claims abstract description 199
- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000011159 matrix material Substances 0.000 claims abstract description 81
- 238000000605 extraction Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 7
- 238000005304 joining Methods 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000007493 shaping process Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/08—Projecting images onto non-planar surfaces, e.g. geodetic screens
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The embodiment of the invention discloses a kind of hull complexity outside plate point cloud costal line extracting method and device, for there are problems that high cost, efficiency be slow, precision is low in the extractive technique for solving existing ship hull plate costal line, the technical problem of the raising of shipbuilding production efficiency is constrained.Present invention method includes：The coordinate system of the cloud data curved surface of the target surface of unified goal ship hull plate and the ship hull plate to be processed of scanned acquisition；The costal line key point of the target surface according to target ship hull plate is to xoy plane projections and obtains costal line datum mark dot matrix；Cloud data curved surface according to costal line datum mark dot matrix in ship hull plate to be processed indexes out corresponding three dimensional point cloud, obtains the costal line datum mark dot matrix of ship hull plate to be processed；The three-dimensional coordinate point of the costal line datum mark dot matrix according to ship hull plate to be processed carries out curve fitting, and obtains the costal line group of ship hull plate to be processed.
Description
Technical field
The present invention relates to feature line extraction field in three dimensional point cloud, more particularly to a kind of hull complexity outside plate point cloud rib
Bone line drawing method and device.
Background technology
Ship hull plate curved surface is the free form surface with bidrectional cured, typically realizes that shaping adds by flame forming plate technique
Work, but in process, it is necessary to judge the shaping situation of outside plate.And the costal line of ship hull plate possesses description hull
The function of outside plate profile, thus it is commonly used for weighing the shaping degree of ship hull plate.Need first to find outside processing in process
Costal line on plate curved surface, then the costal line with target surface is compared, and then forms judgement.So, outside hull
The extractive technique of plate processing curve costal line is to realize the primary premise that processing outside plate shaping is evaluated.
At present, for the extraction problem of ship hull plate costal line, both at home and abroad major part shipyard still use, have through
The workman for testing is measured and is observed by adjustable sample plate, depicts the costal line on ship hull plate to be processed.Adjustable sample plate is made, no
Lot of materials is only wasted, and the efficiency and precision of manual inspection are all difficult to increase substantially, and are carried as restriction shipbuilding production efficiency
Bottleneck high.Adjustable sample plate detection method is used for reference, the positioning that gripper equipment completes measurement point is first passed through, then using contactless
Laser measuring device for measuring and displacement transducer obtain the three-dimensional coordinate of series of points at selected rib position, finally fit corresponding rib
Line.Although the method improves precision and efficiency with respect to manual method, tracking measurement is needed one by one to go out costal line, and ship hull plate
Laying state change will influence certainty of measurement.Additionally, obtaining whole hull to be processed also by using 3D laser scanners
The cloud data of outside plate, the method combined using Octree and feature curvature, subdivision is carried out to cloud data, finally fits phase
The costal line answered.Though the sampling to whole outside plate information can be rapidly completed using 3D laser scanners, in massive point cloud number
It is fitted after going out characteristic strong point according to middle searching subdivision, precision and efficiency are also limited.
Therefore, have that high cost, efficiency are slow, precision is low asks in the extractive technique of existing ship hull plate costal line
Topic, constrains the raising of shipbuilding production efficiency.
The content of the invention
A kind of hull complexity outside plate point cloud costal line extracting method and device are the embodiment of the invention provides, is solved existing
Ship hull plate costal line extractive technique in there are problems that high cost, efficiency be slow, precision is low, constrain shipbuilding production effect
The technical problem of the raising of rate.
A kind of hull complexity outside plate point cloud costal line extracting method provided in an embodiment of the present invention, including：
The cloud data of the target surface of unified goal ship hull plate and the ship hull plate to be processed of scanned acquisition is bent
The coordinate system in face；
The costal line key point of the target surface according to target ship hull plate is to xoy plane projections and obtains costal line benchmark
Point dot matrix；
Cloud data curved surface according to costal line datum mark dot matrix in ship hull plate to be processed indexes out corresponding three-dimensional
Cloud data, obtains the costal line datum mark dot matrix of ship hull plate to be processed；
The three-dimensional coordinate point of the costal line datum mark dot matrix according to ship hull plate to be processed carries out curve fitting, and is treated
The costal line group of the ship hull plate of processing.
Preferably, the point cloud of the target surface of unified goal ship hull plate and the ship hull plate to be processed of scanned acquisition
Include before the coordinate system of data curved surface：
The original costal line in longitudinal direction and horizontal original costal line according to the external Slab of object ship fit target surface；
By the original point cloud data denoising of the ship hull plate to be processed gathered by laser scanner scans and treated
The curved surface cloud data of the ship hull plate of processing.
Preferably, the costal line key point of the target surface according to target ship hull plate is to xoy plane projections and obtains rib
Bone line datum mark dot matrix includes：
The costal line key point of the target surface according to target ship hull plate is to xoy plane projections and obtains costal line benchmark
Point dot matrix, and costal line datum mark dot matrix is carried out to expand the new costal line benchmark of acquisition according to the scanning accuracy of laser scanner
Point dot matrix, costal line key point is the joining of the original costal line in longitudinal direction and horizontal original costal line.
Preferably, correspondence is indexed out in the cloud data curved surface of ship hull plate to be processed according to costal line datum mark dot matrix
Three dimensional point cloud, the costal line datum mark dot matrix for obtaining ship hull plate to be processed includes：
The cloud data of abscissa and ordinate according to new costal line datum mark dot matrix in ship hull plate to be processed
Curved surface indexes out corresponding three dimensional point cloud；
Z-axis coordinate value in three dimensional point cloud is weighted to average and obtains weighted average, and by weighted average
It is worth the Z axis coordinate as the costal line key point of ship hull plate to be processed, obtains the costal line base of ship hull plate to be processed
Three-dimensional lattice on schedule.
Preferably, the three-dimensional coordinate point of the costal line datum mark dot matrix according to ship hull plate to be processed carries out curve plan
Close, the costal line group for obtaining ship hull plate to be processed includes：
The three-dimensional coordinate point of the costal line datum mark dot matrix according to ship hull plate to be processed is carried out by least square method
Curve matching, obtains the costal line group of ship hull plate to be processed.
A kind of hull complexity outside plate point cloud costal line extraction element provided in an embodiment of the present invention, including：
Unified modules, the ship hull plate to be processed of target surface and scanned acquisition for unified goal ship hull plate
Cloud data curved surface coordinate system；
Projection module, for the target surface according to target ship hull plate costal line key point to xoy plane projections simultaneously
Obtain costal line datum mark dot matrix；
Index module, indexes for the cloud data curved surface according to costal line datum mark dot matrix in ship hull plate to be processed
Go out corresponding three dimensional point cloud, obtain the costal line datum mark dot matrix of ship hull plate to be processed；
First fitting module, the three-dimensional coordinate for the costal line datum mark dot matrix according to ship hull plate to be processed is clicked through
Row curve matching, obtains the costal line group of ship hull plate to be processed.
Preferably, also include：
Second fitting module, for the original costal line in longitudinal direction according to the external Slab of object ship and horizontal original costal line
Fit target surface；
Denoising module, the original point cloud data of the ship hull plate to be processed for will be gathered by laser scanner scans
Denoising simultaneously obtains the curved surface cloud data of ship hull plate to be processed.
Preferably, projection module includes：
Unit is expanded in projection, and the costal line key point for the target surface according to target ship hull plate is thrown to xoy planes
Shadow simultaneously obtains costal line datum mark dot matrix, and costal line datum mark dot matrix is expanded according to the scanning accuracy of laser scanner
New costal line datum mark dot matrix is obtained, costal line key point is the original costal line in longitudinal direction intersecting with laterally original costal line
Point.
Preferably, index module includes：
Indexing units, for according to the abscissa and ordinate of new costal line datum mark dot matrix outside hull to be processed
The cloud data curved surface of plate indexes out corresponding three dimensional point cloud；
Weighted units, weighted average is obtained for being weighted to average to the z-axis coordinate value in three dimensional point cloud,
And weighted average as the Z axis coordinate of the costal line key point of ship hull plate to be processed is obtained outside hull to be processed
The costal line datum mark three-dimensional lattice of plate.
Preferably, the first fitting module includes：
Fitting unit, the three-dimensional coordinate point for the costal line datum mark dot matrix according to ship hull plate to be processed passes through most
Small square law carries out curve fitting, and obtains the costal line group of ship hull plate to be processed.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
A kind of hull complexity outside plate point cloud costal line extracting method provided in an embodiment of the present invention and device, including：It is unified
The coordinate system of the cloud data curved surface of the target surface of target ship hull plate and the ship hull plate to be processed of scanned acquisition；Root
According to target ship hull plate target surface costal line key point is to xoy plane projections and obtains costal line datum mark dot matrix；Root
Cloud data curved surface according to costal line datum mark dot matrix in ship hull plate to be processed indexes out corresponding three dimensional point cloud, obtains
To the costal line datum mark dot matrix of ship hull plate to be processed；Costal line datum mark dot matrix according to ship hull plate to be processed
Three-dimensional coordinate point is carried out curve fitting, and obtains the costal line group of ship hull plate to be processed, and basis is passed through in the embodiment of the present invention
The costal line key point of target ship hull plate is projected to outside plate cloud data face to be processed, while to being projected on cloud data
The z-axis coordinate of point is weighted averagely, as the ordinate of key point, is effectively prevented the cloud data face corresponding to projection
Be the situation in cavity, and by combining known ship hull plate target surface, with ship hull plate to be processed carry out projection matching,
Calculate, energy is accurate, the costal line of quick obtaining measurement outside plate, for the shaping evaluation of ship hull plate provides basic data, solves
There are problems that high cost, efficiency be slow, precision is low in the extractive technique of existing ship hull plate costal line, constrain shipbuilding life
Produce the technical problem of the raising of efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is that a kind of flow of hull complexity outside plate point cloud costal line extracting method provided in an embodiment of the present invention is illustrated
Figure；
Fig. 2 is costal line extracting method schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of hull complexity outside plate point cloud costal line extraction element provided in an embodiment of the present invention
Figure.
Specific embodiment
A kind of hull complexity outside plate point cloud costal line extracting method and device are the embodiment of the invention provides, it is existing for solving
There are problems that high cost, efficiency be slow, precision is low in the extractive technique of some ship hull plate costal lines, constrain shipbuilding production
The technical problem of the raising of efficiency.
To enable that goal of the invention of the invention, feature, advantage are more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described, it is clear that disclosed below to the technical scheme in the embodiment of the present invention
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Fig. 1 is referred to, a kind of hull complexity outside plate point cloud costal line extracting method provided in an embodiment of the present invention includes：
101st, according to the external Slab of object ship it is bent that the original costal line in longitudinal direction and horizontal original costal line fits target
Face；
It is possible, firstly, to hand-designed manufacture or modeling reverse mould making target ship hull plate model sample box model are carried out, wherein,
Target ship hull plate model sample box model has N bars longitudinally original costal line and 9 original costal lines of transverse direction.It is former according to N bars longitudinal direction
Beginning costal line and 9 original costal lines of transverse direction collective fit to out target surface, the laterally original costal line in longitudinal direction and original costal line
Intersecting point is key point.
102nd, by the original point cloud data denoising of the ship hull plate to be processed gathered by laser scanner scans and obtain
Obtain the curved surface cloud data of ship hull plate to be processed；
It is then possible to pass through the original point cloud data of three-dimensional laser scanner scanning collection ship hull plate to be processed, and
The curved surface cloud data of ship hull plate to be processed will be obtained after original point cloud data denoising.
103rd, the point cloud number of the target surface of unified goal ship hull plate and the ship hull plate to be processed of scanned acquisition
According to the coordinate system of curved surface；
After the target surface and the cloud data curved surface of ship hull plate to be processed for obtaining target ship hull plate, pass through
Three-dimensional coordinate changes and matches, the ship hull plate to be processed of the target surface of unified goal ship hull plate and scanned acquisition
The coordinate system of cloud data curved surface.Its key step is as follows：
4 angle points A, B, C, D of ship hull plate target surface (ship hull plate cloud data curved surface) are chosen, by a most young waiter in a wineshop or an inn
Multiply plane fitting, obtain fit Plane SABCD；
By fit Plane SABCDFirst around z-axis rotation alpha degree, then plane S ' is obtained around x-axis rotation β degreeABCD, make its parallel to
Plane xoy；
By plane S 'ABCDTranslated, make its diagonal be the origin of coordinates in the projection intersection point of plane xoy, after translation
The plane for arriving is S "ABCD；
By plane S "ABCDγ degree is rotated around z-axis, makes its diagonal in the projection of plane xoy, the angular bisector for being formed exists
In x-axis.
104th, the costal line key point of the target surface according to target ship hull plate is to xoy plane projections and obtains costal line
Datum mark dot matrix, and costal line datum mark dot matrix is carried out to expand the new costal line of acquisition according to the scanning accuracy of laser scanner
Datum mark dot matrix, costal line key point is the joining of the original costal line in longitudinal direction and horizontal original costal line；
In the cloud data of the ship hull plate to be processed of the target surface and scanned acquisition of unified goal ship hull plate
After the coordinate system of curved surface, costal line key point coordinates (U, V, W) of the target surface according to target ship hull plate is to xoy planes
Project and obtain size is the costal line datum mark dot matrix M of 9xN, and according to the scanning accuracy of three-dimensional laser scanner to rib
Line datum mark dot matrix expand and obtains new costal line datum mark dot matrix M '.Wherein, costal line datum mark dot matrix M is expanded
Exhibition obtains new costal line datum mark dot matrix M ', specifically includes following steps：
1：Read the scanning accuracy △ d of used laser scanner；
2：According to ship hull plate type to be processed, it is determined that to the extension step-length of each point in costal line datum mark dot matrix M.
Such as：Plate to be processed is saddle plate, and its costal line Curvature varying is smaller, then expand step-size factor k and take 5-6；To be processed is sail
Shape plate, its costal line Curvature varying is slightly larger, then expand step-size factor k and take 3-4；To be processed is conical plate, its costal line curvature
Change greatly, then expand step-size factor k and take 1-2；
3：With the costal line datum mark dot matrix of 9xNCentered on middle each point, often
Individual point expands to the matrix of 3x3 again：
Size is the costal line datum mark dot matrix of 27x3N after being expanded
105th, point cloud of the abscissa and ordinate according to new costal line datum mark dot matrix in ship hull plate to be processed
Data curved surface indexes out corresponding three dimensional point cloud；
, it is necessary to according to the abscissa of new costal line datum mark dot matrix after new costal line datum mark dot matrix M ' is obtained
Cloud data curved surface with ordinate in ship hull plate to be processed indexes out corresponding three dimensional point cloud
106th, the z-axis coordinate value in three dimensional point cloud is weighted to average and obtains weighted average, and will weighting
Average value obtains the rib of ship hull plate to be processed as the Z axis coordinate of the costal line key point of ship hull plate to be processed
Line datum mark three-dimensional lattice；
The abscissa and ordinate according to new costal line datum mark dot matrix ship hull plate to be processed point cloud number
After indexing out corresponding three dimensional point cloud according to curved surface, the z-axis coordinate value in three dimensional point cloud is weighted and is averaged
Weighted average is obtained, and using weighted average as the Z axis coordinate of the costal line key point of ship hull plate to be processed, is obtained
The costal line datum mark three-dimensional lattice of ship hull plate to be processed, specifically includes following steps：
Based on Euclidean distance, each point in M is asked for and expands to the matrix of 3x3 again to ask for owning near datum mark dot matrix
Point to datum mark Europe it is several in distance as weighted value wi；
According to weighted value wi, using formulaThe Z axis coordinate after new weighted average is obtained, as to be added
The Z axis coordinate of each key point on work plate.
107th, the three-dimensional coordinate point of the costal line datum mark dot matrix according to ship hull plate to be processed passes through least square method
Carry out curve fitting, obtain the costal line group of ship hull plate to be processed.
Finally, the three-dimensional coordinate point of the costal line datum mark dot matrix according to ship hull plate to be processed passes through least square method
Carry out curve fitting, obtain the costal line group of ship hull plate to be processed.Fig. 2 is referred to, is costal line extracting method schematic diagram.
It is more than retouching in detail to a kind of hull complexity outside plate point cloud costal line extracting method provided in an embodiment of the present invention
State, will carry out detailed retouching to a kind of hull complexity outside plate point cloud costal line extraction element provided in an embodiment of the present invention below
State.
Fig. 3 is referred to, a kind of hull complexity outside plate point cloud costal line extraction element provided in an embodiment of the present invention includes：
Second fitting module 201, for the original costal line in longitudinal direction according to the external Slab of object ship and horizontal original rib
Bone line fits target surface；
Denoising module 202, the original point cloud of the ship hull plate to be processed for will be gathered by laser scanner scans
Data de-noising simultaneously obtains the curved surface cloud data of ship hull plate to be processed；
Unified modules 203, the hull to be processed of target surface and scanned acquisition for unified goal ship hull plate
The coordinate system of the cloud data curved surface of outside plate；
Projection module 204, for the target surface according to target ship hull plate costal line key point to xoy plane projections
And obtain costal line datum mark dot matrix；Projection module also includes：
Unit 2041 is expanded in projection, and the costal line key point for the target surface according to target ship hull plate is flat to xoy
Face projects and obtains costal line datum mark dot matrix, and costal line datum mark dot matrix is carried out according to the scanning accuracy of laser scanner
Expand and obtain new costal line datum mark dot matrix, costal line key point is the phase of the original costal line in longitudinal direction and horizontal original costal line
Intersection point.
Index module 205, for according to costal line datum mark dot matrix ship hull plate to be processed cloud data curved surface
Corresponding three dimensional point cloud is indexed out, the costal line datum mark dot matrix of ship hull plate to be processed is obtained；Index module is also wrapped
Include：
Indexing units 2051, for according to the abscissa and ordinate of new costal line datum mark dot matrix in ship to be processed
The cloud data curved surface of external plate indexes out corresponding three dimensional point cloud；
Weighted units 2052, put down for being weighted to average to obtain weighting to the z-axis coordinate value in three dimensional point cloud
Average, and using weighted average as the Z axis coordinate of the costal line key point of ship hull plate to be processed, obtain ship to be processed
The costal line datum mark three-dimensional lattice of external plate.
First fitting module 206, for the three-dimensional coordinate of the costal line datum mark dot matrix according to ship hull plate to be processed
Point carries out curve fitting, and obtains the costal line group of ship hull plate to be processed；First fitting module also includes：
Fitting unit 2061, the three-dimensional coordinate point for the costal line datum mark dot matrix according to ship hull plate to be processed leads to
Cross least square method to carry out curve fitting, obtain the costal line group of ship hull plate to be processed.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, for example multiple units or component
Can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use
When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used to so that a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to preceding
Embodiment is stated to be described in detail the present invention, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of hull complexity outside plate point cloud costal line extracting method, it is characterised in that including：
The cloud data curved surface of the target surface of unified goal ship hull plate and the ship hull plate to be processed of scanned acquisition
Coordinate system；
The costal line key point of the target surface according to the target ship hull plate is to xoy plane projections and obtains costal line benchmark
Point dot matrix；
Indexed out in the cloud data curved surface of the ship hull plate to be processed according to the costal line datum mark dot matrix corresponding
Three dimensional point cloud, obtains the costal line datum mark dot matrix of the ship hull plate to be processed；
The three-dimensional coordinate point of the costal line datum mark dot matrix according to the ship hull plate to be processed carries out curve fitting, and obtains institute
State the costal line group of ship hull plate to be processed.
2. hull according to claim 1 complexity outside plate point cloud costal line extracting method, it is characterised in that the unified mesh
Before the coordinate system of the cloud data curved surface for marking the ship hull plate to be processed of the target surface and scanned acquisition of ship hull plate
Including：
The original costal line in longitudinal direction and horizontal original costal line according to the external Slab of object ship fit target surface；
By the original point cloud data denoising of the ship hull plate described to be processed gathered by laser scanner scans and obtain institute
State the curved surface cloud data of ship hull plate to be processed.
3. hull according to claim 2 complexity outside plate point cloud costal line extracting method, it is characterised in that described according to institute
The costal line key point for stating the target surface of target ship hull plate to xoy plane projections and obtains costal line datum mark dot matrix bag
Include：
The costal line key point of the target surface according to the target ship hull plate is to xoy plane projections and obtains costal line benchmark
Point dot matrix, and the costal line datum mark dot matrix is carried out to expand the new rib of acquisition according to the scanning accuracy of the laser scanner
Bone line datum mark dot matrix, the costal line key point is the intersecting of the original costal line in the longitudinal direction and the original costal line of the transverse direction
Point.
4. hull according to claim 3 complexity outside plate point cloud costal line extracting method, it is characterised in that described according to institute
State costal line datum mark dot matrix and index out corresponding three-dimensional point cloud number in the cloud data curved surface of the ship hull plate to be processed
According to the costal line datum mark dot matrix for obtaining the ship hull plate to be processed includes：
The point cloud of abscissa and ordinate according to the new costal line datum mark dot matrix in the ship hull plate to be processed
Data curved surface indexes out corresponding three dimensional point cloud；
Z-axis coordinate value in the three dimensional point cloud is weighted to average and obtains weighted average, and by the weighting
Average value is obtained outside the hull to be processed as the Z axis coordinate of the costal line key point of the ship hull plate to be processed
The costal line datum mark three-dimensional lattice of plate.
5. hull according to claim 4 complexity outside plate point cloud costal line extracting method, it is characterised in that described according to institute
The three-dimensional coordinate point for stating the costal line datum mark dot matrix of ship hull plate to be processed carries out curve fitting, and obtains described to be processed
The costal line group of ship hull plate includes：
The three-dimensional coordinate point of the costal line datum mark dot matrix according to the ship hull plate to be processed is carried out by least square method
Curve matching, obtains the costal line group of the ship hull plate to be processed.
6. a kind of hull complexity outside plate point cloud costal line extraction element, it is characterised in that including：
Unified modules, the point of the ship hull plate to be processed of target surface and scanned acquisition for unified goal ship hull plate
The coordinate system of cloud data curved surface；
Projection module, for the target surface according to the target ship hull plate costal line key point to xoy plane projections simultaneously
Obtain costal line datum mark dot matrix；
Index module, for according to the costal line datum mark dot matrix the ship hull plate to be processed cloud data curved surface
Corresponding three dimensional point cloud is indexed out, the costal line datum mark dot matrix of the ship hull plate to be processed is obtained；
First fitting module, the three-dimensional coordinate for the costal line datum mark dot matrix according to the ship hull plate to be processed is clicked through
Row curve matching, obtains the costal line group of the ship hull plate to be processed.
7. hull according to claim 6 complexity outside plate point cloud costal line extraction element, it is characterised in that also include：
Second fitting module, for the original costal line in longitudinal direction according to the external Slab of object ship and horizontal original costal line fitting
Go out target surface；
Denoising module, the original point cloud data of the ship hull plate described to be processed for will be gathered by laser scanner scans
Denoising simultaneously obtains the curved surface cloud data of the ship hull plate to be processed.
8. hull according to claim 7 complexity outside plate point cloud costal line extraction element, it is characterised in that the projective module
Block includes：
Unit is expanded in projection, and the costal line key point for the target surface according to the target ship hull plate is thrown to xoy planes
Shadow simultaneously obtains costal line datum mark dot matrix, and according to the scanning accuracy of the laser scanner to the costal line datum mark dot matrix
Expand and obtain new costal line datum mark dot matrix, the costal line key point is the original costal line in the longitudinal direction and the horizontal stroke
To the joining of original costal line.
9. hull according to claim 8 complexity outside plate point cloud costal line extraction element, it is characterised in that the indices modulo
Block includes：
Indexing units, for according to the abscissa and ordinate of the new costal line datum mark dot matrix in the ship to be processed
The cloud data curved surface of external plate indexes out corresponding three dimensional point cloud；
Weighted units, weighted average is obtained for being weighted to average to the z-axis coordinate value in the three dimensional point cloud,
And using the weighted average as the Z axis coordinate of the costal line key point of the ship hull plate to be processed, obtain described treating
The costal line datum mark three-dimensional lattice of the ship hull plate of processing.
10. hull according to claim 9 complexity outside plate point cloud costal line extraction element, it is characterised in that described first
Fitting module includes：
Fitting unit, the three-dimensional coordinate point for the costal line datum mark dot matrix according to the ship hull plate to be processed passes through most
Small square law carries out curve fitting, and obtains the costal line group of the ship hull plate to be processed.
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