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An accurate and efficient measurement for unknown rotor profile of screw compressor has been a nodus in the field of coordinate measuring machine (CMM) measurement because of its complexity of 3D helical surface, whose normal vectors vary with different measured points, while conventional 2D measuring methods have the inevitable radius compensation. If measured points and corresponding normal vectors are known, a 3D radius compensation then could be applied without a theoretical error. In this paper, a double-measurement method based on Reverse Engineering (RE) is proposed to solve this problem. The first measurement focused on constructing a 3D CAD model as accurate as possible. So, according to the structure characteristics of the unknown rotor, a reasonable WCS is established firstly. Then a DRCH method is presented to eliminate the outliers of measured points. Finally, an indirect method is presented to measure the screw pitch with projection and transformation of measured point sets. In second section, a 3D measurement is planned by DIMS language with setting measured points and corresponding normal vectors, which are calculated according to 3D CAD model constructed in first section. Final experimental analysis indicates that measuring accuracy with this double-measurement method is improved greatly.