HALCON 22.11.0.0 / HALCON Operator Reference / XLD / Features
ClassesClasses | | Operators

fit_circle_contour_xldfit_circle_contour_xldFitCircleContourXldFitCircleContourXldfit_circle_contour_xld (Operator)

Name

fit_circle_contour_xldfit_circle_contour_xldFitCircleContourXldFitCircleContourXldfit_circle_contour_xld — Approximate XLD contours by circles.

Signature

fit_circle_contour_xld(Contours : : Algorithm, MaxNumPoints, MaxClosureDist, ClippingEndPoints, Iterations, ClippingFactor : Row, Column, Radius, StartPhi, EndPhi, PointOrder)

Herror fit_circle_contour_xld(const Hobject Contours, const char* Algorithm, const Hlong MaxNumPoints, double MaxClosureDist, const Hlong ClippingEndPoints, const Hlong Iterations, double ClippingFactor, double* Row, double* Column, double* Radius, double* StartPhi, double* EndPhi, char* PointOrder)

Herror T_fit_circle_contour_xld(const Hobject Contours, const Htuple Algorithm, const Htuple MaxNumPoints, const Htuple MaxClosureDist, const Htuple ClippingEndPoints, const Htuple Iterations, const Htuple ClippingFactor, Htuple* Row, Htuple* Column, Htuple* Radius, Htuple* StartPhi, Htuple* EndPhi, Htuple* PointOrder)

void FitCircleContourXld(const HObject& Contours, const HTuple& Algorithm, const HTuple& MaxNumPoints, const HTuple& MaxClosureDist, const HTuple& ClippingEndPoints, const HTuple& Iterations, const HTuple& ClippingFactor, HTuple* Row, HTuple* Column, HTuple* Radius, HTuple* StartPhi, HTuple* EndPhi, HTuple* PointOrder)

void HXLDCont::FitCircleContourXld(const HString& Algorithm, Hlong MaxNumPoints, double MaxClosureDist, Hlong ClippingEndPoints, Hlong Iterations, double ClippingFactor, HTuple* Row, HTuple* Column, HTuple* Radius, HTuple* StartPhi, HTuple* EndPhi, HTuple* PointOrder) const

void HXLDCont::FitCircleContourXld(const HString& Algorithm, Hlong MaxNumPoints, double MaxClosureDist, Hlong ClippingEndPoints, Hlong Iterations, double ClippingFactor, double* Row, double* Column, double* Radius, double* StartPhi, double* EndPhi, HString* PointOrder) const

void HXLDCont::FitCircleContourXld(const char* Algorithm, Hlong MaxNumPoints, double MaxClosureDist, Hlong ClippingEndPoints, Hlong Iterations, double ClippingFactor, double* Row, double* Column, double* Radius, double* StartPhi, double* EndPhi, HString* PointOrder) const

void HXLDCont::FitCircleContourXld(const wchar_t* Algorithm, Hlong MaxNumPoints, double MaxClosureDist, Hlong ClippingEndPoints, Hlong Iterations, double ClippingFactor, double* Row, double* Column, double* Radius, double* StartPhi, double* EndPhi, HString* PointOrder) const   (Windows only)

static void HOperatorSet.FitCircleContourXld(HObject contours, HTuple algorithm, HTuple maxNumPoints, HTuple maxClosureDist, HTuple clippingEndPoints, HTuple iterations, HTuple clippingFactor, out HTuple row, out HTuple column, out HTuple radius, out HTuple startPhi, out HTuple endPhi, out HTuple pointOrder)

void HXLDCont.FitCircleContourXld(string algorithm, int maxNumPoints, double maxClosureDist, int clippingEndPoints, int iterations, double clippingFactor, out HTuple row, out HTuple column, out HTuple radius, out HTuple startPhi, out HTuple endPhi, out HTuple pointOrder)

void HXLDCont.FitCircleContourXld(string algorithm, int maxNumPoints, double maxClosureDist, int clippingEndPoints, int iterations, double clippingFactor, out double row, out double column, out double radius, out double startPhi, out double endPhi, out string pointOrder)

def fit_circle_contour_xld(contours: HObject, algorithm: str, max_num_points: int, max_closure_dist: float, clipping_end_points: int, iterations: int, clipping_factor: float) -> Tuple[Sequence[float], Sequence[float], Sequence[float], Sequence[float], Sequence[float], Sequence[str]]

def fit_circle_contour_xld_s(contours: HObject, algorithm: str, max_num_points: int, max_closure_dist: float, clipping_end_points: int, iterations: int, clipping_factor: float) -> Tuple[float, float, float, float, float, str]

Description

fit_circle_contour_xldfit_circle_contour_xldFitCircleContourXldFitCircleContourXldFitCircleContourXldfit_circle_contour_xld approximates the XLD contours ContoursContoursContoursContourscontourscontours by circles. It does not perform a segmentation of the input contours. Thus, one has to make sure that each contour corresponds to one and only one circle. The operator returns for each contour the center (RowRowRowRowrowrow, ColumnColumnColumnColumncolumncolumn), and the RadiusRadiusRadiusRadiusradiusradius.

The algorithm used for the fitting of circles can be selected via AlgorithmAlgorithmAlgorithmAlgorithmalgorithmalgorithm:

'algebraic'"algebraic""algebraic""algebraic""algebraic""algebraic"

This approach minimizes the algebraic distance between the contour points and the resulting circle.

'ahuber'"ahuber""ahuber""ahuber""ahuber""ahuber"

Similar to 'algebraic'"algebraic""algebraic""algebraic""algebraic""algebraic". Here the contour points are weighted to decrease the impact of outliers based on the approach of Huber (see below).

'atukey'"atukey""atukey""atukey""atukey""atukey"

Similar to 'algebraic'"algebraic""algebraic""algebraic""algebraic""algebraic". Here the contour points are weighted and outliers are ignored based on the approach of Tukey (see below).

'geometric'"geometric""geometric""geometric""geometric""geometric"

This approach minimizes the geometric distance between the contour points and the resulting circle. The distance measure is statistically optimal, but takes more computational time. This option is recommended if the contour points are considerably distorted by noise.

'geohuber'"geohuber""geohuber""geohuber""geohuber""geohuber"

Similar to 'geometric'"geometric""geometric""geometric""geometric""geometric". Here the contour points are weighted to decrease the impact of outliers based on the approach of Huber (see below).

'geotukey'"geotukey""geotukey""geotukey""geotukey""geotukey"

Similar to 'geometric'"geometric""geometric""geometric""geometric""geometric". Here the contour points are weighted and outliers are ignored based on the approach of Tukey (see below).

For '*huber' and '*tukey' a robust error statistics is used to estimate the standard deviation of the distances from the contour points without outliers from the approximating circle. The parameter ClippingFactorClippingFactorClippingFactorClippingFactorclippingFactorclipping_factor (a scaling factor for the standard deviation) controls the amount of outliers: the smaller the value chosen for ClippingFactorClippingFactorClippingFactorClippingFactorclippingFactorclipping_factor the more outliers are detected. In the Tukey algorithm outliers are removed, whereas in the Huber algorithm outliers are only damped, or more precisely they are weighted linearly. Without any robust weighting the squares of the distances are taken as error values in the optimization, i.e., a least square formulation. In practice, the approach of Tukey is recommended.

The parameter IterationsIterationsIterationsIterationsiterationsiterations specifies the number of iterations for the algorithms 'algebraic'"algebraic""algebraic""algebraic""algebraic""algebraic", 'ahuber'"ahuber""ahuber""ahuber""ahuber""ahuber" and 'atukey'"atukey""atukey""atukey""atukey""atukey". This parameter is ignored for the algorithms 'geometric'"geometric""geometric""geometric""geometric""geometric", 'geohuber'"geohuber""geohuber""geohuber""geohuber""geohuber" and 'geotukey'"geotukey""geotukey""geotukey""geotukey""geotukey". If IterationsIterationsIterationsIterationsiterationsiterations is set to zero, the algorithm does not perform iterative improvements on the fitted circle, but only checks if the initial guess was already close enough depending on the chosen treatment of outliers.

To reduce the computational load, the fitting of circles can be restricted to a subset of the contour points: If a value other than -1 is assigned to MaxNumPointsMaxNumPointsMaxNumPointsMaxNumPointsmaxNumPointsmax_num_points, only up to MaxNumPointsMaxNumPointsMaxNumPointsMaxNumPointsmaxNumPointsmax_num_points points - uniformly distributed over the contour - are used.

For circular arcs, the points on the circle closest to the start points and end points of the original contours are chosen as start and end points. The corresponding angles referring to the X-axis are returned in StartPhiStartPhiStartPhiStartPhistartPhistart_phi and EndPhiEndPhiEndPhiEndPhiendPhiend_phi, see also gen_ellipse_contour_xldgen_ellipse_contour_xldGenEllipseContourXldGenEllipseContourXldGenEllipseContourXldgen_ellipse_contour_xld. Contours, for which the distance between their start points and their end points is less or equal MaxClosureDistMaxClosureDistMaxClosureDistMaxClosureDistmaxClosureDistmax_closure_dist are considered to be closed. Thus, they are approximated by circles instead of circular arcs. Due to artifacts in the pre-processing the start and end points of a contour might be faulty. Therefore, it is possible to exclude ClippingEndPointsClippingEndPointsClippingEndPointsClippingEndPointsclippingEndPointsclipping_end_points points at the beginning and at the end of a contour from the fitting of circles. However, they are still used for the determination of StartPhiStartPhiStartPhiStartPhistartPhistart_phi and EndPhiEndPhiEndPhiEndPhiendPhiend_phi.

The minimum necessary number of contour points for fitting a circle is three. Therefore, it is required that the number of contour points is at least .

Execution Information

Parameters

ContoursContoursContoursContourscontourscontours (input_object)  xld_cont(-array) → objectHXLDContHObjectHXLDContHobject

Input contours.

AlgorithmAlgorithmAlgorithmAlgorithmalgorithmalgorithm (input_control)  string → HTuplestrHTupleHtuple (string) (string) (HString) (char*)

Algorithm for the fitting of circles.

Default value: 'algebraic' "algebraic" "algebraic" "algebraic" "algebraic" "algebraic"

List of values: 'ahuber'"ahuber""ahuber""ahuber""ahuber""ahuber", 'algebraic'"algebraic""algebraic""algebraic""algebraic""algebraic", 'atukey'"atukey""atukey""atukey""atukey""atukey", 'geohuber'"geohuber""geohuber""geohuber""geohuber""geohuber", 'geometric'"geometric""geometric""geometric""geometric""geometric", 'geotukey'"geotukey""geotukey""geotukey""geotukey""geotukey"

MaxNumPointsMaxNumPointsMaxNumPointsMaxNumPointsmaxNumPointsmax_num_points (input_control)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Maximum number of contour points used for the computation (-1 for all points).

Default value: -1

Restriction: MaxNumPoints >= 3

MaxClosureDistMaxClosureDistMaxClosureDistMaxClosureDistmaxClosureDistmax_closure_dist (input_control)  real → HTuplefloatHTupleHtuple (real) (double) (double) (double)

Maximum distance between the end points of a contour to be considered as 'closed'.

Default value: 0.0

Restriction: MaxClosureDist >= 0.0

ClippingEndPointsClippingEndPointsClippingEndPointsClippingEndPointsclippingEndPointsclipping_end_points (input_control)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Number of points at the beginning and at the end of the contours to be ignored for the fitting.

Default value: 0

Restriction: ClippingEndPoints >= 0

IterationsIterationsIterationsIterationsiterationsiterations (input_control)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Maximum number of iterations for the robust weighted fitting.

Default value: 3

Restriction: Iterations >= 0

ClippingFactorClippingFactorClippingFactorClippingFactorclippingFactorclipping_factor (input_control)  real → HTuplefloatHTupleHtuple (real) (double) (double) (double)

Clipping factor for the elimination of outliers (typical: 1.0 for Huber and 2.0 for Tukey).

Default value: 2.0

Suggested values: 1.0, 1.5, 2.0, 2.5, 3.0

Restriction: ClippingFactor > 0

RowRowRowRowrowrow (output_control)  circle.center.y(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Row coordinate of the center of the circle.

ColumnColumnColumnColumncolumncolumn (output_control)  circle.center.x(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Column coordinate of the center of the circle.

RadiusRadiusRadiusRadiusradiusradius (output_control)  circle.radius(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Radius of circle.

StartPhiStartPhiStartPhiStartPhistartPhistart_phi (output_control)  angle.rad(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Angle of the start point [rad].

EndPhiEndPhiEndPhiEndPhiendPhiend_phi (output_control)  angle.rad(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Angle of the end point [rad].

PointOrderPointOrderPointOrderPointOrderpointOrderpoint_order (output_control)  string(-array) → HTupleSequence[str]HTupleHtuple (string) (string) (HString) (char*)

Point order along the boundary.

List of values: 'negative'"negative""negative""negative""negative""negative", 'positive'"positive""positive""positive""positive""positive"

Result

fit_circle_contour_xldfit_circle_contour_xldFitCircleContourXldFitCircleContourXldFitCircleContourXldfit_circle_contour_xld returns 2 (H_MSG_TRUE) if all parameter values are correct, and circles could be fitted to the input contours. If the input is empty the behavior can be set via set_system('no_object_result',<Result>)set_system("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)set_system("no_object_result",<Result>). If necessary, an exception is raised. If the parameter ClippingFactorClippingFactorClippingFactorClippingFactorclippingFactorclipping_factor is chosen too small, i.e., all points are classified as outliers, the error 3264 is raised.

Possible Predecessors

gen_contours_skeleton_xldgen_contours_skeleton_xldGenContoursSkeletonXldGenContoursSkeletonXldGenContoursSkeletonXldgen_contours_skeleton_xld, lines_gausslines_gaussLinesGaussLinesGaussLinesGausslines_gauss, lines_facetlines_facetLinesFacetLinesFacetLinesFacetlines_facet, edges_sub_pixedges_sub_pixEdgesSubPixEdgesSubPixEdgesSubPixedges_sub_pix, smooth_contours_xldsmooth_contours_xldSmoothContoursXldSmoothContoursXldSmoothContoursXldsmooth_contours_xld

Possible Successors

gen_ellipse_contour_xldgen_ellipse_contour_xldGenEllipseContourXldGenEllipseContourXldGenEllipseContourXldgen_ellipse_contour_xld, disp_circledisp_circleDispCircleDispCircleDispCircledisp_circle, get_points_ellipseget_points_ellipseGetPointsEllipseGetPointsEllipseGetPointsEllipseget_points_ellipse

See also

fit_ellipse_contour_xldfit_ellipse_contour_xldFitEllipseContourXldFitEllipseContourXldFitEllipseContourXldfit_ellipse_contour_xld, fit_line_contour_xldfit_line_contour_xldFitLineContourXldFitLineContourXldFitLineContourXldfit_line_contour_xld, fit_rectangle2_contour_xldfit_rectangle2_contour_xldFitRectangle2ContourXldFitRectangle2ContourXldFitRectangle2ContourXldfit_rectangle2_contour_xld

Module

Foundation

ClassesClasses | | Operators
HALCON Operator Reference 22.11.0.0 Copyright © 1996-2022 MVTec Software GmbH
Follow us on