基于PCL的柴油机缸盖三维特征提取技术探讨

Research on PCL-based Three-dimensional Feature Extraction Technology of Diesel Engine Cylinder Head

在对柴油机缸盖的三维特征进行提取时,需要利用闭环反馈、线结构光与CCD来对控制子系统进行触发;其次,通过点云库中的RANSAC算法拟合平面,得出云表面法向量,通过转换其坐标系来获得位置基准;再次,利用SAMODEL_SYLINDER模型来分割圆柱的背景点及其特征点;最后通过PCL函数对圆柱的轴线向量、半径及轴线点坐标进行拟合来获得其位置,从而使柴油缸盖的三维特征得到有效提取.经实验结果证明,利用PCL函数来拟合平面与圆柱,可获得非常精确的测量结果.

When extracting the three-dimensional features of the diesel engine cylinder head,it is necessary to use the closed-loop feedback,line structure light and CCD to trigger the control subsystem.Secondly,the RANSAC algorithm in the point cloud library is used to fit the plane to obtain the cloud surface normal vector.The position reference is obtained by converting its coordinate system;again,the SAMODEL_SYLINDER model is used to divide the background point of the cylinder and its feature points;finally,the axis vector,radius and axis point coordinates of the cylinder are fitted by PCL function to obtain the position.Thereby,the three-dimensional characteristics of the diesel cylinder head are effectively extracted.The experimental results show that using the PCL function to fit the plane and the cylinder,very accurate measurement results can be obtained.