Measuring-patterns-from-a-surface

The following work was the work for my internship as an end of study for masters in Robotics and Mechatronics.

The core of the work is to develope a C++ application for measuring patterns from the surface of laser textured samples. In this cas the patters have sphercal structure.

File contents

source file: Includes the main script of the c++ code (main.cpp) and the other functions.

py scripts : Includes the python code for creating virtual point clouds.

images: give an examples of the approach developed through the code.

headers: Includes the header files included in the main script (main.cpp).

How the code works

The code reads a point cloud data from a .pcd file (only) , visulaize this data points , and add so,e noise if wanted. then the code implement an algorithm to try to fit the point cloud with a sphere if possible and execute its parameters. At the end the code visualize the results and the radius of the fitted sphere is printed to the terminal.

Operating system

The work was done using linux , but you can run this code on windows or in MacOS.

Tips

Be carefull to the paths defined in the scripts , you need to change paths and make them adapted based on your machine and files directories.

Running the code

git clone https://github.com/ALIBDEIRR/Measuring-patterns-from-a-surface-.git

cd Measuring-patterns-from-a-surface-

mkdir build && cd build
cmake ..
make
./main

Usefull Links

Point cloud library : https://pointclouds.org

OpenCV: https://opencv.org/

References

@phdthesis{kudryavtsev20173d,
title={3D Reconstruction in Scanning Electron Microscope: from image acquisition to dense point cloud},
author={Kudryavtsev, Andrey},
year={2017},
school={University of Bourgogne Franche-Comt{'e}}
}