A machine (10) for roughing a shoe sole comprises a support (17) for a sole, a rouging head (14) and a movement system (13) for moving the roughing head (14) relative to the support (17) under the control of a control system (15) so as to follow with the roughing head (14) roughing trajectories on a sole placed in the support (17). The roughing head (14) comprises a radial roughing tool (42), motorized to rotate about its transverse axis (46), and an axial roughing tool (43), motorized to rotate about its longitudinal axis (44). The radial roughing tool (42) and the axial roughing tool (43) are mutually interchangeable by means of a selection actuator (49) controlled by the control system (15) so as to operate alternately on a sole in the support (17).

A roughing system includes a roughing machine and an imaging apparatus. The roughing machine roughs an upper of a shoe along a path to form a rough trace thereon. The imaging apparatus includes a camera module and a processing module. The camera module is moved parallel to the path and repeatedly captures an image of a portion of the upper having a segment of the rough trace thereon each time when one of a first condition that the camera module has been moved by a predetermined length and a second condition that the camera module has been moved for a predetermined time duration is satisfied. The processing module receives the images respectively of different portions of the upper that are sequentially captured by the camera module, and is configured to generate a panoramic image based on the images.