CN116255930A - Cross section extraction and measurement method and system based on point cloud slice - Google Patents
Cross section extraction and measurement method and system based on point cloud slice Download PDFInfo
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Abstract
The invention relates to a cross section extraction and measurement method and system based on point cloud slicing, comprising the following steps: acquiring a first point cloud set corresponding to the part model; determining a reference surface according to the first point cloud set; determining a vertical tangential plane according to the reference plane; determining target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determining a second point cloud set according to each target point cloud data; from the second point cloud set, a cross-sectional profile of the part model is determined. The method solves the problems that the data volume of the point cloud data is huge, and the spatial data of the part contour can not be directly obtained from the three-dimensional modeling point cloud data.
Description
Technical Field
The invention relates to the technical field of two-dimensional measurement, in particular to a method and a system for extracting and measuring a cross section based on a point cloud slice.
Background
With the rapid development of industry, high-performance parts are used as keys of high-end industrial equipment, the production, assembly, measurement and the like of the high-performance parts represent the technological development level of a company or even a country, and the measurement and the data analysis thereof are used as important indexes for measuring whether a product is qualified or not as the high-end industrial equipment. The existing high-performance parts have complexity due to the size, shape and the like, so that the existing geometric parameter models and measurement modes are over-idealized; in addition, uncertainty factors and unavoidable deformation influence exist in the processing and production process of the parts, so that the geometric parameter performance index of the finally obtained product is inconsistent with the expected performance index, and the development of subsequent products is seriously influenced, and therefore, great trouble is brought to the production and assembly of complex high-performance parts.
The existing three-dimensional scanning technology can reconstruct the surface of an object and collect point cloud data, but the data volume of the point cloud data is huge, and the spatial data of the part contour cannot be directly obtained from the three-dimensional modeling point cloud data.
Disclosure of Invention
The invention provides a cross section extraction and measurement method and system based on point cloud slicing, which aims to solve the problem that the data volume of point cloud data is huge and the spatial data of part contours cannot be directly obtained from the three-dimensional modeling point cloud data.
In order to solve the technical problems, the present invention provides a method for extracting and measuring a cross section based on a point cloud slice, the method comprising the following steps:
acquiring a first point cloud set corresponding to the part model, wherein the first point cloud set is a set of point cloud data obtained after the three-dimensional reconstruction of the part model;
determining a reference plane according to the first point cloud set, wherein the reference plane is a plane formed by point cloud data positioned on the same plane in the first point cloud set;
determining a vertical tangent plane according to the reference plane, wherein the vertical tangent plane is a plane vertical to the reference plane;
determining target point cloud data in a first point cloud set according to the vertical tangential plane and the first point cloud set, and determining a second point cloud set according to each target point cloud data, wherein the target point cloud data are point cloud data, wherein the distance from the first point cloud set to the vertical tangential plane is within a preset range;
from the second point cloud set, a cross-sectional profile of the part model is determined.
The cross section extraction and measurement method based on the point cloud slice has the beneficial effects that: because the spatial data of the contour of the part cannot be directly obtained from the three-dimensional modeling point cloud data, one section of the part is obtained through the reference surface, then the target point cloud data is obtained through the vertical section and the reference surface, the number of the point cloud data of the first point cloud data set is greatly reduced, finally the second point cloud set can be obtained through the target point cloud data, the sectional contour of the part model is determined according to the second point cloud set, the spatial data of the sectional contour can be obtained, the spatial data of a plurality of sectional contours can be obtained through the method, and the spatial data of the whole part model can be obtained, so that the problem that the data volume of the point cloud data is huge, and the spatial data of the contour of the part cannot be directly obtained from the three-dimensional modeling point cloud data is solved.
Based on the technical scheme, the cross section extraction and measurement method based on the point cloud slice can be improved as follows.
Further, the method comprises the following steps:
according to the reference plane, a straight line on the reference plane and a first normal vector corresponding to the reference plane are obtained;
determining a direction vector corresponding to the straight line and a point on the straight line according to the straight line;
determining a second normal vector corresponding to the vertical tangent plane according to the first normal vector and the direction vector;
determining a vertical tangential plane from the reference plane, comprising:
a vertical slice is determined based on the points and the second normal vector.
The beneficial effects of adopting the further scheme are as follows: and determining a second normal vector through the direction vector of the line on the reference line and the first normal vector, and determining a vertical tangent plane through the second normal vector and the point on the line, namely, the vertical tangent plane can be formed through the vertical tangent plane, so that the cloud data of the target point can be determined later.
Further, determining a second normal vector corresponding to the vertical tangent plane according to the first normal vector and the direction vector includes:
according to the first normal vector and the direction vector, determining a second normal vector corresponding to the vertical tangent plane by a first formula, wherein the first formula is as follows:
N Π ＝N Γ ×N l
＝(n y *l-n z *n,n z *m-n x *l,n x *n-n y *m)
＝(n.x,n.y,n.z)；
wherein N is Π Representing a second normal vector N П ＝(n.x，n.y，n.z)，N Γ Represents a first normal vector, and N Γ ＝(n x ，n y ，n z )，N l Represents a direction vector, and N l ＝(m，n，l)。
The beneficial effects of adopting the further scheme are as follows: the second vector is determined by the first formula for subsequent determination of the vertical slice.
Further, determining a vertical slice from the points and the second normal vector includes:
determining a vertical tangent plane according to the point and a second normal vector through a second formula, wherein the second formula is as follows:
n.x(x-x l )+n.y(y-y l )+n.z(z-z l )＝0；
wherein the second formula represents a vertical slice, (x) l ，y l ，z l ) Points of representation, N Π = (n.x, n.y, n.z) represents the second normal vector.
The beneficial effects of adopting the further scheme are as follows: a second normal vector is determined by a second formula for subsequent determination of the vertical slice.
Further, the determining the target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determining the second point cloud set according to each target point cloud data includes:
according to the vertical tangential plane and the first point cloud set, determining target point cloud data in the first point cloud set through a third formula, wherein the third formula is as follows:
wherein a, b, c, d denotes the plane parameter of the vertical section, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set, ψ + A set of target point cloud data representing a first predetermined direction of a first point cloud set located in a vertical section, ψ - Representing a set of target point cloud data in a second preset direction of the vertical tangent plane in the first point cloud set, dis representing distances from each point cloud data in the first point cloud set to the vertical tangent plane,
representing a preset range;
determining a second point cloud set according to each target point cloud data, including:
according to cloud data of each target point, determining a second point cloud set according to a fourth formula, wherein the fourth formula is as follows:
Ψ＝Ψ + +Ψ - ；
where ψ represents the second point cloud.
The beneficial effects of adopting the further scheme are as follows: and determining target point cloud data from the first target point cloud set through a third formula, and determining a second point cloud set according to each target point cloud data through a fourth formula.
Further, the method comprises the following steps:
determining projection coordinates of each point cloud data in the second point cloud set projected onto the cross section according to the second point cloud set;
determining a cross-sectional profile of the part model from the second point cloud set, comprising:
and determining the cross-sectional profile of the part model according to each projection coordinate.
The beneficial effects of adopting the further scheme are as follows: and projecting the second point cloud set onto the cross section, namely converting the three-dimensional image into a two-dimensional image, and acquiring the spatial data of any cross section of the part contour through the two-dimensional image.
Further, determining the projection coordinates of each point cloud data in the second point cloud set projected onto the cross section according to the second point cloud set, the points and the second normal vector includes:
according to the second point cloud set, the points and the second normal vector, determining projection coordinates of each point cloud data projection of the second point cloud set onto the cross section through a fifth formula, wherein the fifth formula is as follows:
d＝-(n.x*x l +n.y*y l +n.z*z l )；
wherein, (x) p ,y p ,z p ) Representing projection coordinates corresponding to the ith point cloud data, (x) l ，y l ，z l ) Points of representation, N Π = (n.x, n.y, n.z) represents a second normal vector, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set.
The beneficial effects of adopting the further scheme are as follows: and projecting the second point cloud set to the cross section to form projection coordinates through a fifth formula, namely converting the three-dimensional image into a two-dimensional image, thereby acquiring the spatial information of any cross section of the part contour.
In a second aspect, the present invention provides a system for extracting and measuring a cross section based on point cloud slicing, including:
the first point cloud acquisition module is used for acquiring a first point cloud corresponding to the part model, wherein the first point cloud is a set of point cloud data obtained after the three-dimensional reconstruction of the part model;
the reference surface acquisition module is used for determining a reference surface according to the first point cloud set, wherein the reference surface is a plane formed by point cloud data positioned on the same plane in the first point cloud set;
the vertical tangent plane acquisition module is used for determining a vertical tangent plane according to the reference plane, wherein the vertical tangent plane is a plane vertical to the reference plane;
the second point cloud set acquisition module is used for determining target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determining the second point cloud set according to each target point cloud data, wherein the target point cloud data are point cloud data with the distance from the vertical tangential plane in a preset range;
and the section profile acquisition module is used for determining the section profile of the part model according to the second point cloud set.
In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a program stored in the memory and running on the processor, where the processor implements the steps of a method for extracting and measuring a cross section based on point cloud slicing as described above when the processor executes the program.
In a fourth aspect, the present invention further provides a computer readable storage medium, where instructions are stored in the computer readable storage medium, and when the instructions are executed on a terminal device, the instructions cause the terminal device to perform the steps of a method for extracting and measuring a cross section based on point cloud slicing as described above.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention is further described below with reference to the drawings and the embodiments.
Fig. 1 is a schematic flow chart of a cross section extraction and measurement method based on point cloud slicing according to an embodiment of the invention;
FIG. 2 is an image corresponding to a second point cloud;
FIG. 3 is a cross-sectional profile of a part model;
fig. 4 is a schematic structural diagram of a cross-section extracting and measuring system based on point cloud slicing according to an embodiment of the present invention.
Detailed Description
The following examples are further illustrative and supplementary of the present invention and are not intended to limit the invention in any way.
The following describes a cross section extraction and measurement method and system based on point cloud slicing according to an embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the method for extracting and measuring a cross section based on a point cloud slice according to the embodiment of the present invention may be applied to a terminal device, and in this application, the terminal device is used as an execution body, and the application is described, where the terminal device is in communication connection with a three-dimensional scanner, and the terminal device may be a computer, a server, etc. and is used to execute the method for extracting and measuring a cross section based on a point cloud slice, and the three-dimensional scanner is used to scan components to obtain point cloud data.
Specifically, the cross section extraction and measurement method based on the point cloud slice comprises the following steps:
s1, acquiring a first point cloud set corresponding to a part model, wherein the first point cloud set is a set of point cloud data obtained after the part model is subjected to three-dimensional reconstruction;
the method comprises the steps of firstly scanning a part model through a three-dimensional scanner to obtain point cloud data, and then carrying out three-dimensional reconstruction on the point cloud data to obtain a first point cloud set, wherein the three-dimensional reconstruction on the point cloud data can be realized through a scheme in the prior art, and details are omitted.
S2, determining a reference surface according to the first point cloud set, wherein the reference surface is a plane formed by point cloud data positioned on the same plane in the first point cloud set;
s3, determining a vertical tangent plane according to the reference plane, wherein the vertical tangent plane is a plane vertical to the reference plane;
s4, determining target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determining a second point cloud set according to each target point cloud data, wherein the target point cloud data are point cloud data, wherein the distance from the first point cloud set to the vertical tangential plane is within a preset range;
after determining the vertical section, the point cloud data contained in the vertical section cannot completely reflect the profile of the section, so that the distance from each point cloud data in the first point cloud set to the vertical section needs to be calculated, more point cloud data is contained, and therefore the target point cloud data is determined, and the second point cloud set can completely reflect the profile of the section.
S5, determining the cross section outline of the part model according to the second point cloud set.
Optionally, any plane can be obtained from the first point cloud set as a reference plane, the reference plane can be used for obtaining spatial data of the part on the section along the parallel direction of the section, then a vertical section is made based on the reference plane, the vertical section can be used for obtaining spatial data of the part on the section along the vertical direction of the section, and finally, the point cloud data of the reference plane and the point cloud data of the vertical section are integrated to obtain the spatial data of the part on the section, based on the method, the method further comprises:
s12, acquiring a straight line on the reference surface and a first normal vector corresponding to the reference surface according to the reference surface;
s13, determining a direction vector corresponding to the straight line and a point on the straight line according to the straight line;
s14, determining a second normal vector corresponding to the vertical section according to the first normal vector and the direction vector.
Optionally, determining the vertical tangential plane according to the reference plane includes:
a vertical slice is determined based on the points and the second normal vector.
Alternatively, in S12, a plurality of points or circles on the reference plane may be determined instead of the straight line, and in this embodiment, the straight line is selected for explanation.
Optionally, if a perpendicular tangent plane perpendicular to the reference plane needs to be obtained, a second normal vector of the reference plane needs to be determined preferentially, after the second normal vector is determined, a point on the reference plane is selected to determine the perpendicular tangent plane along the second normal vector, based on which, according to the first normal vector and the direction vector, a second normal vector corresponding to the perpendicular tangent plane is determined, including:
according to the first normal vector and the direction vector, determining a second normal vector corresponding to the vertical tangent plane by a first formula, wherein the first formula is as follows:
N Π ＝N Γ ×N l
＝(n y *l-n z *n,n z *m-n x *l,n x *n-n y *m)
＝(n.x,n.y,n.z)；
wherein N is Π Representing a second normal vector N Π ＝(n.x，n.y，n.z)，N Γ Represents a first normal vector, and N Γ ＝(n x ，n y ，n z )，N l Represents a direction vector, and N l ＝(m，n，l)。
Determining a vertical slice from the points and the second normal vector, comprising:
determining a vertical tangent plane according to the point and a second normal vector through a second formula, wherein the second formula is as follows:
n.x(x-x l )+n.y(y-y l )+n.z(z-z l )＝0；
wherein the second formula represents a vertical slice, (x) l ，y l ，z l ) Points of representation, N ∏ = (n.x, n.y, n.z) represents the second normal vector.
Optionally, the determining the target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determining the second point cloud set according to each target point cloud data includes:
according to the vertical tangential plane and the first point cloud set, determining target point cloud data in the first point cloud set through a third formula, wherein the third formula is as follows:
wherein a, b, c, d denotes the plane parameter of the vertical section, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set, ψ + A set of target point cloud data representing a first predetermined direction of a first point cloud set located in a vertical section, ψ - Representing a set of target point cloud data in a second preset direction of the vertical tangent plane in the first point cloud set, dis representing distances from each point cloud data in the first point cloud set to the vertical tangent plane,
representing a preset range;
determining a second point cloud set according to each target point cloud data, including:
according to cloud data of each target point, determining a second point cloud set according to a fourth formula, wherein the fourth formula is as follows:
Ψ＝Ψ + +Ψ - ；
where ψ represents the second point cloud.
As shown in fig. 2, α represents a reference plane, β represents a vertical tangential plane, b represents a second preset direction if a represents a first preset direction, and b represents a first preset direction if a represents a second preset direction.
Optionally, the preset range is set according to the actual situation.
As shown in fig. 3, an image formed by a second point cloud obtained by a reference plane and a vertical tangential plane of the part is shown, and as can be seen from fig. 3, the image formed by the second point cloud has lower precision and accuracy, so that the second point cloud needs to be projected onto a cross section to obtain a clear two-dimensional image, so that the spatial data of the cross section of the outline of the part is obtained by the two-dimensional image.
Optionally, the method further comprises:
determining projection coordinates of each point cloud data in the second point cloud set projected onto the cross section according to the second point cloud set;
determining a cross-sectional profile of the part model from the second point cloud set, comprising:
and determining the cross-sectional profile of the part model according to each projection coordinate.
Optionally, determining the projection coordinates of each point cloud data in the second point cloud set projected onto the cross section according to the second point cloud set, the points and the second normal vector includes:
according to the second point cloud set, the points and the second normal vector, determining projection coordinates of each point cloud data projection of the second point cloud set onto the cross section through a fifth formula, wherein the fifth formula is as follows:
d＝-(n.x*x l +n.y*y l +n.z*z l )；
wherein, (x) p ,y p ,z p ) Representing projection coordinates corresponding to the ith point cloud data, (x) l ，y l ，z l ) Points of representation, N ∏ = (n.x, n.y, n.z) represents a second normal vector, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set.
As shown in fig. 4, the image of fig. 3 is projected onto a two-dimensional image of a clear section of a part, and it can be seen that the precision and accuracy are greatly improved, and at this time, a user can measure the image of fig. 4 through a measuring tool or the like, so as to obtain spatial information of the contour of the part on the section.
Alternatively, if the point cloud data collected by the second point cloud is projected by the fifth formula, the results of the partial projection coordinates will be the same, so that the same projection coordinates can be removed, thereby obtaining a more accurate cross-sectional profile of the part model.
Alternatively, because the spatial data of the profile of the whole part model still cannot be obtained through a single section, a section extraction and measurement method based on point cloud slicing can be repeated to obtain a plurality of section profiles of the part model, and then the spatial data of the plurality of section profiles are combined to obtain the spatial data of the profile of the whole part model.
As shown in fig. 2, a cross section extracting and measuring system based on point cloud slicing according to an embodiment of the present invention includes:
a first point cloud set obtaining module 201, configured to obtain a first point cloud set corresponding to the part model, where the first point cloud set is a set of point cloud data obtained by three-dimensional reconstruction of the part model;
the reference plane obtaining module 202 is configured to determine a reference plane according to the first point cloud set, where the reference plane is a plane formed by point cloud data located in the same plane in the first point cloud set;
the vertical tangent plane obtaining module 203 is configured to determine a vertical tangent plane according to the reference plane, where the vertical tangent plane is a plane perpendicular to the reference plane;
a second point cloud set acquisition module 204, configured to determine target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determine a second point cloud set according to each target point cloud data, where the target point cloud data is point cloud data with a distance from the vertical tangential plane within a preset range;
the section profile acquisition module 205 is configured to determine a section profile of the part model according to the second point cloud set.
Optionally, the system further comprises:
the first acquisition module is used for acquiring a straight line on the reference surface and a first normal vector corresponding to the reference surface according to the reference surface;
and the second acquisition module is used for determining a direction vector corresponding to the straight line and a point on the straight line according to the straight line.
The third acquisition module is used for determining a second normal vector corresponding to the vertical section according to the first normal vector and the direction vector;
the vertical slice acquisition module 203 is further configured to:
a vertical slice is determined based on the points and the second normal vector.
Optionally, the third obtaining module is further configured to:
according to the first normal vector and the direction vector, determining a second normal vector corresponding to the vertical tangent plane by a first formula, wherein the first formula is as follows:
N Π ＝N Γ ×N l
＝(n y *l-n z *n,n z *m-n x *l,n x *n-n y *m)
＝(n.x,n.y,n.z)；
wherein N is ∏ Representing a second normal vector N ∏ ＝(n.x，n.y，n.z)，N Γ Represents a first normal vector, and N Γ ＝(n x ，n y ，n z )，N l Represents a direction vector, and N l ＝(m，n，l)。
Optionally, the vertical slice acquisition module 203 is further configured to:
determining a vertical tangent plane according to the point and a second normal vector through a second formula, wherein the second formula is as follows:
n.x(x-x l )+n.y(y-y l )+n.z(z-z l )＝0；
wherein the second formula represents a vertical slice, (x) l ，y l ，z l ) Points of representation, N П = (n.x, n.y, n.z) represents the second normal vector.
Optionally, the second point cloud acquisition module 204 further includes:
the target point cloud data acquisition module is used for determining target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set through a third formula, wherein the third formula is as follows:
wherein a, b, c, d denotes the plane parameter of the vertical section, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set, ψ + A set of target point cloud data representing a first predetermined direction of a first point cloud set located in a vertical section, ψ - Representing a set of target point cloud data in a second preset direction of the vertical tangent plane in the first point cloud set, dis representing distances from each point cloud data in the first point cloud set to the vertical tangent plane,
representing a preset range;
the fourth acquisition module is configured to determine, according to cloud data of each target point, a second point cloud set according to a fourth formula, where the fourth formula is:
Ψ＝Ψ + +Ψ - ；
where ψ represents the second point cloud.
Optionally, the system further comprises:
the projection coordinate acquisition module is used for determining the projection coordinate of each point cloud data projection on the section in the second point cloud set according to the second point cloud set;
the cross-sectional profile acquisition module 205 is further configured to:
and determining the cross-sectional profile of the part model according to each projection coordinate.
Optionally, the projection coordinate acquisition module is further configured to:
according to the second point cloud set, the points and the second normal vector, determining projection coordinates of each point cloud data projection of the second point cloud set onto the cross section through a fifth formula, wherein the fifth formula is as follows:
d＝-(n.x*x l +n.y*y l +n.z*z l )；
wherein, (x) p ,y p ,z p ) Representing projection coordinates corresponding to the ith point cloud data, (x) l ，y l ，z l ) Points of representation, N П = (n.x, n.y, n.z) represents a second normal vector, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set.
Those skilled in the art will appreciate that the present invention may be implemented as a system, method, or computer program product. Accordingly, the present disclosure may be embodied in the following forms, namely: either entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or entirely software, or a combination of hardware and software, referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media, which contain computer-readable program code. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. The cross section extraction and measurement method based on the point cloud slice is characterized by comprising the following steps of:
acquiring a first point cloud set corresponding to a part model, wherein the first point cloud set is a set of point cloud data obtained after the three-dimensional reconstruction of the part model;
determining a reference plane according to a first point cloud set, wherein the reference plane is a plane formed by point cloud data positioned on the same plane in the first point cloud set;
determining a vertical tangent plane according to the reference plane, wherein the vertical tangent plane is a plane vertical to the reference plane;
determining target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determining a second point cloud set according to the target point cloud data, wherein the target point cloud data is point cloud data of which the distance from the first point cloud set to the vertical tangential plane is in a preset range;
and determining the cross-sectional profile of the part model according to the second point cloud set.
2. The method as recited in claim 1, further comprising:
according to the reference plane, a straight line on the reference plane and a first normal vector corresponding to the reference plane are obtained;
determining a direction vector corresponding to the straight line and a point on the straight line according to the straight line;
determining a second normal vector corresponding to the vertical section according to the first normal vector and the direction vector;
the determining a vertical tangential plane according to the reference plane comprises the following steps:
and determining a vertical tangent plane according to the point and the second normal vector.
3. The method of claim 2, wherein determining a second normal vector corresponding to the vertical slice from the first normal vector and the direction vector comprises:
according to the first normal vector and the direction vector, determining a second normal vector corresponding to the vertical tangent plane through a first formula, wherein the first formula is as follows:
N Π ＝N Γ ×N l
＝(n y *l-n z *n,n z *m-n x *l,n x *n-n y *m)
＝(n.x,n.y,n.z)；
wherein N is П Representing a second normal vector N П ＝(n.x，n.y，n.z)，N Γ Represents a first normal vector, and N Γ ＝(n x ，n y ，n z )，N l Represents a direction vector, and N l ＝(m，m，l)。
4. A method according to claim 3, wherein said determining a vertical slice from said point and said second normal vector comprises:
and determining a vertical tangent plane according to the point and the second normal vector through a second formula, wherein the second formula is as follows:
n.x(x-x l )+n.y(y-y l )+n.z(z-z l )＝0；
wherein the second formula represents a vertical slice, (x) l ，y l ，z l ) Points of representation, N Π = (n.x, n.y, n.z) represents the second normal vector.
5. The method of claim 1, wherein the determining target point cloud data in the first point cloud set from the vertical slice and the first point cloud set, and determining a second point cloud set from each of the target point cloud data, comprises:
determining target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set through a third formula, wherein the third formula is as follows:
wherein a, b, c, d denotes the plane parameter of the vertical section, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set, ψ + A set of target point cloud data representing a first predetermined direction of a first point cloud set located in a vertical section, ψ - Representing a set of target point cloud data in a second preset direction of the vertical tangent plane in the first point cloud set, dis representing distances from each point cloud data in the first point cloud set to the vertical tangent plane,
representing a preset range;
determining a second point cloud set according to each target point cloud data, including:
according to each target point cloud data, determining a second point cloud set according to a fourth formula, wherein the fourth formula is as follows:
Ψ＝Ψ + +Ψ - ；
where ψ represents the second point cloud.
6. The method of any one of claims 1-5, further comprising:
determining projection coordinates of each point cloud data in the second point cloud set projected onto a cross section according to the second point cloud set;
the determining the cross-sectional profile of the part model according to the second point cloud set comprises:
and determining the cross-sectional profile of the part model according to each projection coordinate.
7. The method of claim 6, wherein the determining projection coordinates of each point cloud data projection onto a cross-section in the second point cloud set based on the second point cloud set, the points, and the second normal vector comprises:
according to the second point cloud set, the points and the second normal vector, determining projection coordinates of each point cloud data in the second point cloud set projected onto a cross section through a fifth formula, wherein the fifth formula is as follows:
d＝-(n.x*x l +n.y*y l +n.z*z l )；
wherein, (x) p ,y p ,z p ) Representing projection coordinates corresponding to the ith point cloud data, (x) l ，y l ，z l ) Points of representation, N Π = (n.x, n.y, n.z) represents a second normal vector, (x) i ,y i ,z i ) Representing the ith point cloud data in the first point cloud set.
8. A cross section extraction and measurement system based on point cloud slicing is characterized by comprising:
the first point cloud acquisition module is used for acquiring a first point cloud corresponding to the part model, wherein the first point cloud is a set of point cloud data obtained after the three-dimensional reconstruction of the part model;
the reference plane acquisition module is used for determining a reference plane according to a first point cloud set, wherein the reference plane is a plane formed by point cloud data positioned on the same plane in the first point cloud set;
the vertical tangent plane acquisition module is used for determining a vertical tangent plane according to the reference plane, wherein the vertical tangent plane is a plane vertical to the reference plane;
a second point cloud set acquisition module, configured to determine target point cloud data in the first point cloud set according to the vertical tangential plane and the first point cloud set, and determine a second point cloud set according to each of the target point cloud data, where the target point cloud data is the point cloud data with a distance from the vertical tangential plane within a preset range;
and the section profile acquisition module is used for determining the section profile of the part model according to the second point cloud set.
9. An electronic device comprising a memory, a processor and a program stored on the memory and running on the processor, characterized in that the processor implements the steps of a point cloud slice based cross section extraction and measurement method according to any one of claims 1 to 7 when executing the program.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein instructions, which when run on a terminal device, cause the terminal device to perform the steps of a point cloud slice based cross section extraction and measurement method according to any of claims 1 to 7.
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| CN117146720B (en) * | 2023-11-01 | 2024-02-09 | 中机生产力促进中心有限公司 | Rolling linear guide rail pair guide rail profile detection method and detection platform |
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