Measurement System in 3D

This is my final project of master's degree, that is, Automatic Industrial Measurement System Based on Registration.

Steps

The workflow of this system is shown as follows.

• Labeling/Marking a set of points representing the shape to be detected (10.2020)
• Coarse registration (11.2020)
• Fine registration (11.2020)
• Searching the points to be measured in the specified point cloud (11.2020)
• Combining all components (12.2020)

Compiler

For now, all steps are tested and ran on Windows 10 with visual studio 2017.

Development Kits

Download from here.

Requirements

Each step should have its dependencies libraries, also might require the whole libs as follows.

Library	Purpose	Official Website	Usage	Note
Eigen 3.3.7	Core geometric calculation	link	header-only
OpenSceneGraph 3.6.4	Visulization of point cloud	link	compile require
nanoflann 3.6.4	Visiting operation in point cloud	link	header-only
CGAL 5.0.2 (The Computational Geometry Algorithms Library)	Associating with core geometric calculation	link	compile require
OpenGR(A C++ library for 3D Global Registration)	Implement Super4PCS for coarse registration	link or link	header-only
libpointmatcher with its yaml-cpp-pm	Implement ICP for fine registration	link	compile require	modified version that support export matrix per iteration instead of completed vtk-file when setting dumpReading

Quick Demo

Here are four steps:

1. Marking/Labeling

   

   The red zone consists of red points marked by operators. Meanwhile, these zone is marked as points, line, or plane. This process will not participate in the real-time inspection.

2. Registration

   

   From un-registration to registration.

3. Searching marked points

   

   Searching marked points in scanned point cloud with registration result.

4. Measurement

   The inspection including defect detection and geometric measurement, follows a specific relationship describing the marking items as below:

   	Point	Line	Plane
   Point	1|2	1|2	1|2
   Line		2|3	2|3
   Plane			2|3

   '1' indicates the geometric relationship, '2' means the scatter relationship, and '3' means the angle should be calculated between two items based on the normal vector.

   Through Plane-to-Plane and Point-to-Plane, the measurement reuslt(mm) is shown as below:

   	Geometric	Scatter	Angle
   Plane-to-Plane	-	26.987	8.656
   Point-to-Plane	1.517	1.70	-

   We do not need all values in table above.