Point cloud error calculation method

Abstract

The invention discloses a point cloud error calculation method, which processes an actually tested point cloud and a theoretical grid curved surface, comprising the following steps: searching an adjacent point set of a vertex V through employing a nearest neighbor search method; calculating the Euclidean distance between the vertex V and the centroid of the first graphic patch; constructing a cylindrical search space by taking the vertex V as a cylindrical geometric center; traversing each point in the adjacent point set, screening out each reference point from the adjacent point set, and storing the reference points as a reference point set; solving a centroid C of the reference point set, and recording a directed distance L between the centroid C and the vertex V as a point cloud error;and traversing each vertex V in the theoretical grid curved surface to obtain a point cloud error between a reference point set corresponding to each vertex V and the theoretical grid curved surface.The point cloud error calculation method can quantify the error between the actually tested point cloud and the theoretical grid curved surface of the object to be measured, and can be used for evaluating the quality of actually tested point cloud data.

Description

technical field [0001] The invention relates to the field of three-dimensional measurement, and specifically relates to a point cloud error calculation method. Background technique [0002] With the continuous development of modern manufacturing industry, reverse engineering technology has been widely researched and applied; among them, 3D scanning modeling is a common reverse technology, which uses 3D scanning measurement equipment to measure the entities in the scene and obtain discrete point cloud data; due to the accuracy error of the measuring equipment itself and the inevitable electromagnetic interference, there are errors (noise) in the point cloud data; in order to calculate the error and evaluate the point cloud data, it is often necessary to use the CAD digital model of the measured entity as a reference , to calculate the error; the digital model is usually expressed in the form of a mesh surface, which includes a graphic patch, vertex and vertex sequence; for th...

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Problems solved by technology

[0002]With the continuous development of modern manufacturing industry, reverse engineering technology has been widely researched and applied; among them, 3D scanning modeling is a common reverse technology, and its Three-dimensional scanning measurement equipment is used to measure the entities in the scene to obtain discrete point cloud data; due to the accuracy error of the measurement equipment itself and the inevitable electromagnetic interference, there are errors (noise) in the point cloud data; in order to calculate the error, evaluate the point For cloud data, it is often necessary to use the CAD digital model of the measured entity as a reference for error calculation; the digital model is usually expressed in the form of a mesh surface, which includes graphic patches, vertices and vertex sequences; for this reason, the existing method calculates The method of point cloud error is to calculate the directed distance between each point in the measured point cloud and its nearest neighbor graphic patch. When calculating, firstly, all graphic patches are used as candidate objects to calculate one by one, and the nearest neighbor is obtained after sorting. Graphical patch; this calculation method has the problems of long time consumption and low efficiency

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