算子

二值化算子 （二值化后获取的都是区域）

二值化算子

clip_region_rel 剪切区域

 clip_region_rel(Region : RegionClipped : Top, Bottom, Left, Right : )
 Region是输入区域；
 RegioonClipped是减掉后的输出区域；
 Top, 顶端
 Bottom,底端
 Left,左边
 Right右边

edges_sub_pix 提取亚像素边缘

 edges_sub_pix(Image : Edges : Filter, Alpha, Low, High : )*提取亚像素精密边缘轮廓

 Filter ：过滤算法
 Filter  = 'canny'刚好相反，alpha值越大，轮廓细节就越少（可能有一部分轮廓消失）
 alpha：指定值越小，平滑越强大，会减少边缘细节。

 Low和High：
           使用灰度直方图计算两个阀值,凡是像素灰度值大于高阀值的一定是轮廓； 凡是小于低阀值的一定不是轮廓；
            如果检测像素灰度值大于低阀值但又小于高阀值，那就要看这个像素的邻接像素中有没有超过高阀值的边缘像素：如果有的话那么它就是轮廓边缘了，否则他就不是轮廓边缘；
           

lines_gauss 检测线条算子

lines_gauss(Image : Lines : Sigma, Low, High, LightDark, ExtractWidth, LineModel, CompleteJunctions : )
Image (input_object) ：输入图像
Lines (output_object) ：检测线条（XLD）
Sigma (input_control) ：高斯滤波值
Low (input_control) ：滞后阈值分割的低阈值
High (input_control) ：滞后阈值分割的高阈值
LightDark (input_control) ：提取线条类型（ ‘dark’,‘light’）
ExtractWidth (input_control) ：是否提取线宽（‘false’,‘true’）
LineModel (input_control) ：用来调整线条位置和宽度的线模型（‘bar-shaped’, ‘gaussian’, ‘none’, ‘parabolic’）
CompleteJunctions (input_control) ：在断连的部分是否添加节点使线条连续（‘false’, ‘true’）

clip_contours_xld 亚像素边缘分割

clip_contours_xld ( Contours : ClippedContours : Row1, Column1,Row2, Column2 : )
Contours ：待分割的轮廓
ClippedContours ：分割后的轮廓
 Row1, Column1,Row2, Column2： 轮廓的左上角坐标和右下角坐标

segment_contours_xld 亚像素边缘分割

segment_contours_xld (Edges, ContoursSplit, 'lines_circles', 5, 4, 2)
Edges：待分割的轮廓
ContoursSplit：分割后的轮廓
'lines_circles'：分割模式，分割出线段、类圆
5：平滑轮廓系数
4：最大线距
2：最小线距

union_collinear_contours_xld 边缘联合共线

union_collinear_contours_xld(Contours : UnionContours : MaxDistAbs, MaxDistRel, MaxShift, MaxAngle, Mode : )
Contours (input_object) ：输入XLD轮廓
UnionContours (output_object) ：合并后输出轮廓
MaxDistAbs (input_control) ：沿参考轮廓的回归线测量两个轮廓之间的最大间隙长度（间隙在参考轮廓拟合直线上的投影）。
MaxDistRel (input_control) ：间隙在参考轮廓拟合直线上的投影长度与参考轮廓长度的比值上限（见下面详解）
MaxShift (input_control) ：第二个轮廓与参考轮廓拟合直线的最大距离
MaxAngle (input_control) ：两个轮廓拟合直线的角度（ 0.0 ≤ MaxAngle ≤ 0.78539816339（45度））
Mode (input_control) ：定义轮廓属性处理的模式，即，是否保留或丢弃轮廓属性

union_adjacent_contours_xld 临近联合，将端点距离很近的轮廓连接起来

union_adjacent_contours_xld(Contours : UnionContours : MaxDistAbs, MaxDistRel, Mode : )
Contours (input_object) ：输入轮廓
UnionContours (output_object) ：合并后输出轮廓
MaxDistAbs (input_control) ：两个轮廓端点间的最小距离控制参数
MaxDistRel (input_control) ：两个轮廓端点间的最小距离与最长轮廓长度的比值控制参数
Mode (input_control) ：定义轮廓属性处理的模式，即，是否保留或丢弃轮廓属性

union_cocircular_contours_xld 联合圆

Contours：输入的共圆轮廓XLD对象。
CenterRow：共圆的圆心的行坐标。
CenterColumn：共圆的圆心的列坐标。
Radius：共圆的半径。
StartPhi：共圆曲线的起始角度。
EndPhi：共圆曲线的结束角度。

regress_contours_xld 求具有回归属性的轮廓

regress_contours_xld(Contours : RegressContours : Mode, Iterations : )
    Contours：这是输入参数，表示将进行回归的 XLD 轮廓。
    RegressContours：这是输出参数，将存储回归后的结果轮廓。
    Mode：此参数确定要执行的回归类型。根据所需的回归方法可以采用不同的值，如“algebraic”（代数）、“directional”（方向）、“elliptic”（椭圆）等。
    Iterations：此参数指定在回归过程中执行的迭代次数。它有助于改善回归结果。

sort_contours_xld 轮廓区域排序

sort_contours_xld(Contours : SortedContours : SortMode, Order, RowOrCol : )

示例：sort_contours_xld (ContoursSplit, SortedContours, 'upper_left', 'true', 'column')

ContoursSplit（输入对象）：输入包含多个轮廓的对象

SortedContours（输出对象）：输出排序轮廓对象

'upper_left'（输入控制参数1）：排序方法

'true'（输入控制参数2）：升序true或者是降序false

'column'（输入控制参数3）：按照行或者列排序

get_contour_global_attrib_xld 亚像素拟合，自动判断拟合对象算子（直线，椭圆，圆）

get_contour_global_attrib_xld (ObjectSelected输入轮廓, 
								'cont_approx'判断算法, 
								Attrib输出结果)

fit_circle_contour_xld 拟合圆算子

fit_circle_contour_xld(Contours,输入轮廓
						Algorithm,拟合算法,如最小二乘法
						MaxNumPoints,拟合时采用轮廓最多的点数,-1表示全部参与
						MaxClosureDist,是指Maximum distance between the end points of a contour to be considered as 'closed'用来区分拟合成圆还是圆弧 ,就是要拟合的最后一个点和被认为把轮廓封闭的点,这两个点距离
						ClippingEndPoints,拟合时忽略轮廓开始和结束点的数量
						Iterations,拟合迭代的最大次数
						ClippingFactor,离群值的裁剪因子,越小离群值越多
						Row, 输出圆的坐标
						Column,
						Radius,输出圆半径
						StartPhi,输出圆开始角度
						EndPhi,输出圆终止角度
						PointOrder边界点正反向)

gen_circle_contour_xld 产生亚像素圆拟合图像

gen_circle_contour_xld（：ContCircle：Row，Column，Radius，StartPhi，EndPhi，PointOrder，Resolution）
ContCircle（output_object）xld_cont（-array）→对象
产生的轮廓。
Row（input_control）circle.center.y（-array）→（real）
圆心或圆弧的中心的行坐标。
默认值：200.0
Column （input_control）circle.center.x（-array）→（真实）
圆心或圆弧的圆柱坐标。
默认值：200.0
Radius （input_control）circle.radius（-array）→（真实）
圆弧或圆弧的半径。
默认值：100.0
限制：半径> 0
StartPhi（input_control）real（-array）→（真实）
圆的起点或圆弧[rad]的角度。
默认值：0.0
EndPhi（input_control）real（-array）→（真实）
圆弧或圆弧[rad]的终点角度。
默认值：6.28318
PointOrder（input_control）string（-array）→（string）
沿圆或圆弧的点顺序。
默认值：‘正面’
价值清单：‘负面’，‘正面’
Resolution（input_control）真实→（真实）
相邻轮廓点之间的距离。
默认值：1.0
限制：分辨率> = 0.00001

fit_line_contour_xld 拟合成直线

fit_line_contour_xld(Contours : : Algorithm, MaxNumPoints, ClippingEndPoints, Iterations, ClippingFactor : RowBegin, ColBegin, RowEnd, ColEnd, Nr, Nc, Dist)

Contours (input_object) ：输入的XLD轮廓
Algorithm (input_control)：直线拟合算法（ ‘drop’, ‘gauss’, ‘huber’, ‘regression’, ‘tukey’）
MaxNumPoints (input_control)：参与拟合直线的最大轮廓点数（设置-1代表所有点参与计算；最小值要大于等于2，因为至少两点才能确认一条直线）
ClippingEndPoints (input_control) ：拟合直线时，需要忽略轮廓起始处点个数。（一个XLD轮廓会被线分割成很多个小轮廓）
Iterations (input_control) ：最大迭代次数。（不适用于’regression’）
ClippingFactor (input_control)：剔除异常值因子。（算法 ‘huber’ 、‘drop’ 设置1.0，'tukey’设置2.0）
RowBegin (output_control) ：拟合后的线段起始点行坐标
ColBegin (output_control) ：拟合后的线段起始点列坐标
RowEnd (output_control) ：拟合后的线段终点点行坐标
ColEnd (output_control) ：拟合后的线段终点点列坐标
Nr (output_control) ：直线方程法线式x相乘系数
Nc (output_control) ：直线方程法线式y相乘系数
Dist (output_control) ：坐标系原点到线段的距离

gen_contour_polygon_xld 产生多边形亚像素轮廓

gen_contour_polygon_xld （）从一个多边形生成一个XLD轮廓(以元组的形式给出)。

参数：
Contour (output_object) ：产生的轮廓。

Row(input_control)：多边形的行坐标。

默认值:[0,1、2、2、2]

建议值:0、1、2、3、4、5、10、20、50、100、200、500

Col(input_control)：多边形的列坐标。

默认值:[0,0,0,1,2)

建议值:0、1、2、3、4、5、10、20、50、100、200、500

XLD转 region （图像进行二值化的都是区域）
gen_region_contour_xld (ContoursUnion, Region, ‘filled’)
region 转 XLD
gen_contour_region_xld (SelectedRegions, Contours, ‘border’)

shape_trans 变换区域的形状

convex：凸包性

ellipse：与输入区域有相同的矩和区域的椭圆

outer_circle：最小外接圆

inner_circle：最大内接圆

rectangle1：平行于坐标轴的最小外接矩形

rectangle2：最小外接矩形

inner_rectangle1：平行于坐标轴的最大内接矩形

inner_rectangle2：输入区域的骨架点拥有同输入区域的重心点最小的距离

shape_trans 示例

更多xld算子

更多区域算子

Blob 分析案例

Blob 分析案例

预处理图像增强降噪

图像降噪

图像增强

Halcon 基于圆的拟合

* 
* The edges in the image are segmented into lines and circles.
* For the edges that are part of a circle, the circle parameters
* are estimated and the resulting circle is displayed.
read_image (Image, 'double_circle')
* 
* Init window
dev_close_window ()
get_image_size (Image, Width, Height)
dev_open_window (0, 0, Width, Height, 'black', WindowHandle)
* 
* Segment a region containing the edges
* 快速二值化 二值化得到的都是区域
fast_threshold (Image, Region, 0, 120, 7)
* 对区域求轮廓  内边界'inner'
boundary (Region, RegionBorder, 'inner')
* 裁剪区域
clip_region_rel (RegionBorder, RegionClipped, 5, 5, 5, 5)
* 膨胀
dilation_circle (RegionClipped, RegionDilation, 2.5)
* 裁剪区域
reduce_domain (Image, RegionDilation, ImageReduced)
* 
* In the subdomain of the image containing the edges,
* extract subpixel precise edges.
* 亚像素边缘提取
edges_sub_pix (ImageReduced, Edges, 'canny', 2, 20, 60)
*  亚像素分割
segment_contours_xld (Edges, ContoursSplit, 'lines_circles', 5, 4, 3)
count_obj (ContoursSplit, Number)
dev_display (Image)
dev_set_draw ('margin')
dev_set_color ('white')
dev_update_window ('off')
for I := 1 to Number by 1
    * 选择第一个轮廓
    select_obj (ContoursSplit, ObjectSelected, I)
    * 拟合
    get_contour_global_attrib_xld (ObjectSelected, 'cont_approx', Attrib)
    * Fit a circle to the line segment that are arcs of a circle
    if (Attrib > 0)
        * 形成一个圆的拟合
        fit_circle_contour_xld (ObjectSelected, 'ahuber', -1, 2, 0, 3, 2, Row, Column, Radius, StartPhi, EndPhi, PointOrder)
        * 产生拟合图像
        gen_circle_contour_xld (ContCircle, Row, Column, Radius, 0, rad(360), 'positive', 1.0)
        dev_display (ContCircle)
    endif
endfor
dev_set_colored (12)
dev_set_line_width (3)
dev_display (ContoursSplit)

Halcon 拟合成直线和圆计算距离

* measure_metal_part.hdev: inspects metal part by fitting lines and circles
* 
dev_close_window ()
dev_update_window ('off')
* ****
* step: acquire image
* ****
read_image (Image, 'metal-parts/metal-parts-01')
get_image_size (Image, Width, Height)
dev_open_window_fit_image (Image, 0, 0, Width, Width, WindowID)
set_display_font (WindowID, 14, 'mono', 'true', 'false')
dev_set_draw ('margin')
dev_set_line_width (3)
dev_display (Image)
disp_continue_message (WindowID, 'black', 'true')
stop ()
* ****
* step: create contours
* ****
edges_sub_pix (Image, Edges, 'lanser2', 0.5, 40, 90)
dev_display (Edges)
disp_continue_message (WindowID, 'black', 'true')
stop ()
* ****
* step: process contours
* ****
segment_contours_xld (Edges, ContoursSplit, 'lines_circles', 6, 4, 4)
sort_contours_xld (ContoursSplit, SortedContours, 'upper_left', 'true', 'column')
dev_clear_window ()
dev_set_colored (12)
dev_display (SortedContours)
disp_continue_message (WindowID, 'black', 'true')
stop ()
* ****
* step: perform fitting
* ****
ROI := [115,225,395,535]
dev_open_window (0, round(Width / 2), (ROI[3] - ROI[1]) * 2, (ROI[2] - ROI[0]) * 2, 'black', WindowHandleZoom)
dev_set_part (round(ROI[0]), round(ROI[1]), round(ROI[2]), round(ROI[3]))
set_display_font (WindowHandleZoom, 14, 'mono', 'true', 'false')
count_obj (SortedContours, NumSegments)
dev_display (Image)
NumCircles := 0
NumLines := 0
for i := 1 to NumSegments by 1
    select_obj (SortedContours, SingleSegment, i)
    get_contour_global_attrib_xld (SingleSegment, 'cont_approx', Attrib)
    if (Attrib == 1)
        NumCircles := NumCircles + 1
        fit_circle_contour_xld (SingleSegment, 'atukey', -1, 2, 0, 5, 2, Row, Column, Radius, StartPhi, EndPhi, PointOrder)
        gen_ellipse_contour_xld (ContEllipse, Row, Column, 0, Radius, Radius, 0, rad(360), 'positive', 1.0)
        dev_set_color ('white')
        dev_display (ContEllipse)
        set_tposition (WindowHandleZoom, Row - Radius - 10, Column)
        write_string (WindowHandleZoom, 'C' + NumCircles)
        ResultText := 'C' + NumCircles + ': radius = ' + Radius
    else
        NumLines := NumLines + 1
        fit_line_contour_xld (SingleSegment, 'tukey', -1, 0, 5, 2, RowBegin, ColBegin, RowEnd, ColEnd, Nr, Nc, Dist)
        gen_contour_polygon_xld (Line, [RowBegin,RowEnd], [ColBegin,ColEnd])
        dev_set_color ('yellow')
        dev_display (Line)
        * 计算距离
        distance_pp (RowBegin, ColBegin, RowEnd, ColEnd, Length)
        * 设置显示位置
        set_tposition (WindowHandleZoom, (RowBegin + RowEnd) / 2 - Nr * 10, (ColBegin + ColEnd) / 2)
        write_string (WindowHandleZoom, 'L' + NumLines)
        ResultText := 'L' + NumLines + ': length = ' + Length
    endif
    set_tposition (WindowHandleZoom, 275 + i * 10, 230)
    write_string (WindowHandleZoom, ResultText)
endfor
disp_continue_message (WindowID, 'black', 'true')
stop ()
dev_set_window (WindowHandleZoom)
dev_close_window ()
dev_clear_window ()

Halcon 共线联合案例

* close_contour_gaps.hdev: closes gaps in extracted straight contours
* 
dev_close_window ()
dev_update_window ('off')
* ****
* step: create synthetic image
* ****
gen_rectangle1 (Rectangle, 30, 20, 100, 100)
* 产生一个二值区域 
region_to_bin (Rectangle, BinImage, 130, 100, 120, 130)
* 矩形区域裁剪
rectangle1_domain (BinImage, ImageReduced, 20, 48, 40, 52)
* 产生均值图像，让图像变得平滑
mean_image (ImageReduced, SmoothedImage, 15, 15)
* 绘制一个灰度图像
paint_gray (SmoothedImage, BinImage, Image)
get_image_size (Image, Width, Height)
dev_open_window_fit_image (Image, 0, 0, Width, Height, WindowID)
dev_set_draw ('margin')
dev_set_line_width (3)
dev_display (Image)
stop ()
* ****
* step: create contours
* ****
rectangle1_domain (Image, ImageReduced, 5, 5, 125, 115)
* 边界提取
edges_sub_pix (ImageReduced, Edges, 'lanser2', 1.1, 22, 30)
dev_display (Image)
dev_display (Edges)
stop ()
* ****
* step: process contours
* ****
* 亚像素图像分割
segment_contours_xld (Edges, LineSegments, 'lines', 5, 4, 2)
* 计算亚像素轮廓的回归参数
regress_contours_xld (LineSegments, RegressContours, 'no', 1)
* 共线联合轮廓
union_collinear_contours_xld (RegressContours, UnionContours, 10, 1, 2, 0.1, 'attr_keep')
* 亚像素轮廓排序
sort_contours_xld (UnionContours, SortedContours, 'upper_left', 'true', 'column')
dev_display (Image)
colored_display (SortedContours, ['yellow','white','white','yellow'])
dev_update_window ('on')

Halcon 拟合动画案例

* This example demonstrates how to use the operator
* union_cotangential_contours_xld.
* Therefore, the operator is applied to a set of synthetic
* contours with different parameter sets.
* 
* Part I
* 
* Test the following parameters:
* - FitClippingLength
* - FitLength
* - MaxTangAngle
* 
* Initialization
get_system ('flush_graphic', FlushGraphic)
* 
* Default parameters
FitClippingLength := 0
FitLength := 30
MaxTangAngle := rad(45)
MaxDist := 25
MaxDistPerp := 10
MaxOverlap := 2
* 
RowOffsets := [25,25,240,240]
ColumnOffsets := [0,256,0,256]
* 
gen_test_contour (ContourConcat1, RowOffsets[0], ColumnOffsets[0])
gen_test_contour (ContourConcat2, RowOffsets[1], ColumnOffsets[1])
gen_test_contour (ContourConcat3, RowOffsets[2], ColumnOffsets[2])
gen_test_contour (ContourConcat4, RowOffsets[3], ColumnOffsets[3])
* 
* Display original contours
dev_update_off ()
dev_close_window ()
dev_open_window (0, 0, 512, 512, 'black', WindowHandle)
dev_set_part (0, 0, 511, 511)
set_display_font (WindowHandle, 14, 'mono', 'true', 'false')
dev_clear_window ()
dev_set_line_width (3)
dev_set_colored (12)
dev_display (ContourConcat1)
dev_display (ContourConcat2)
dev_display (ContourConcat3)
dev_display (ContourConcat4)
Message := 'This example shows the effect of'
Message[1] := 'union_cotangential_contours_xld'
Message[2] := 'with different parameter sets'
disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')
disp_message (WindowHandle, 'Before', 'window', 12, 420, 'white', 'false')
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* 
* Test values
TestFitClippingLength := 10
TestFitLength := 5
TestMaxTangAngle := rad(135)
* 
* Apply different parameter configurations
union_cotangential_contours_xld (ContourConcat1, UnionContours1, FitClippingLength, FitLength, MaxTangAngle, MaxDist, MaxDistPerp, MaxOverlap, 'attr_forget')
union_cotangential_contours_xld (ContourConcat2, UnionContours2, TestFitClippingLength, FitLength, MaxTangAngle, MaxDist, MaxDistPerp, MaxOverlap, 'attr_forget')
union_cotangential_contours_xld (ContourConcat3, UnionContours3, FitClippingLength, TestFitLength, MaxTangAngle, MaxDist, MaxDistPerp, MaxOverlap, 'attr_forget')
union_cotangential_contours_xld (ContourConcat4, UnionContours4, FitClippingLength, FitLength, TestMaxTangAngle, MaxDist, MaxDistPerp, MaxOverlap, 'attr_forget')
* 
* Display results
dev_clear_window ()
dev_set_line_width (5)
dev_display (UnionContours1)
dev_display (UnionContours2)
dev_display (UnionContours3)
dev_display (UnionContours4)
dev_set_line_width (1)
dev_set_color ('white')
dev_display (ContourConcat1)
dev_display (ContourConcat2)
dev_display (ContourConcat3)
dev_display (ContourConcat4)
Message[0] := 'Results of'
disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')
disp_message (WindowHandle, 'After', 'window', 12, 420, 'white', 'false')
Text := 'Default parameters:\nFitClippingLength = 0\nFitLength = 30\nMaxTangAngle = rad(45)'
Text[1] := 'Clip endpoints\nFitClippingLength = 10'
Text[2] := 'Fit small end pieces\nFitLength = 5'
Text[3] := 'Allow large angles\nMaxTangAngle = rad(135)'
disp_message (WindowHandle, Text[0], 'window', 200 + RowOffsets[0], 20 + ColumnOffsets[0], 'white', 'false')
disp_message (WindowHandle, Text[1], 'window', 200 + RowOffsets[1], 20 + ColumnOffsets[1], 'white', 'false')
disp_message (WindowHandle, Text[2], 'window', 200 + RowOffsets[2], 20 + ColumnOffsets[2], 'white', 'false')
disp_message (WindowHandle, Text[3], 'window', 200 + RowOffsets[3], 20 + ColumnOffsets[3], 'white', 'false')
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* 
* Part II
* 
* Test the following parameters:
* - MaxDist
* - MaxDistPerp
* - MaxOverlap
* - MaxTangAngle
* 
* Test values
TestMaxDist := 10
TestMaxDistPerp := 10
TestMaxOverlap := 10
TestMaxTangAngle := rad(60)
* 
* Create and display test contours
Row := [200,200,200]
Column := [100,250,400]
Delay := 0.1
gen_empty_obj (FixedContours)
for I := 0 to |Row| - 1 by 1
    gen_ellipse_contour_xld (ContEllipse, Row[I], Column[I], rad(90), 100, 50, 0, rad(90), 'positive', 1.5)
    concat_obj (FixedContours, ContEllipse, FixedContours)
endfor
gen_ellipse_contour_xld (Contour1, Row[0] - 125, Column[0] + 10, rad(270), 25, 35, 0, rad(90), 'positive', 1.5)
gen_ellipse_contour_xld (Contour2, Row[1] - 75, Column[1] + 10, rad(0), 35, 25, 0, rad(90), 'positive', 1.5)
gen_contour_nurbs_xld (Contour3, [100,100,100,100], Column[2] + [0,10,20,30] + 10, 'auto', 'auto', 3, 1, 5)
concat_obj (Contour1, Contour2, ContoursConcat)
concat_obj (ContoursConcat, Contour3, ContoursConcat)
concat_obj (ContoursConcat, FixedContours, ContoursConcat)
Title := 'Test different parameters of\nunion_cotangential_contours_xld'
Text := ''
dev_display_results (ContoursConcat, ContoursConcat, WindowHandle, Title, Text)
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* 
* Test setting for MaxDist
Title := 'Test influence of MaxDist'
DistY := 0
for DistX := 20 to -10 by -1
    * Modify test contours
    gen_ellipse_contour_xld (Contour1, Row[0] - 125 + DistY, Column[0] + DistX, rad(270), 25, 35, 0, rad(90), 'positive', 1.5)
    gen_ellipse_contour_xld (Contour2, Row[1] - 75 + DistY, Column[1] + DistX, rad(0), 35, 25, 0, rad(90), 'positive', 1.5)
    gen_contour_nurbs_xld (Contour3, [100,100,100,100] + DistY, Column[2] + [0,10,20,30] + DistX, 'auto', 'auto', 3, 1, 5)
    concat_obj (Contour1, Contour2, ContoursConcat)
    concat_obj (ContoursConcat, Contour3, ContoursConcat)
    concat_obj (ContoursConcat, FixedContours, ContoursConcat)
    * Try to unify contours
    union_cotangential_contours_xld (ContoursConcat, UnionContours, FitClippingLength, FitLength, MaxTangAngle, TestMaxDist, MaxDistPerp, MaxOverlap, 'attr_forget')
    * Display results
    Text := 'MaxDist = ' + TestMaxDist
    dev_display_results (UnionContours, ContoursConcat, WindowHandle, Title, Text)
    wait_seconds (Delay)
endfor
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* 
* Test setting for MaxDistPerp
Title := 'Test influence of MaxDistPerp'
DistX := 5
for DistY := -20 to 20 by 1
    * Modify test contours
    gen_ellipse_contour_xld (Contour1, Row[0] - 125 + DistY, Column[0] + DistX, rad(270), 25, 35, 0, rad(90), 'positive', 1.5)
    gen_ellipse_contour_xld (Contour2, Row[1] - 75 + DistY, Column[1] + DistX, rad(0), 35, 25, 0, rad(90), 'positive', 1.5)
    gen_contour_nurbs_xld (Contour3, [100,100,100,100] + DistY, Column[2] + [0,10,20,30] + DistX, 'auto', 'auto', 3, 1, 5)
    concat_obj (Contour1, Contour2, ContoursConcat)
    concat_obj (ContoursConcat, Contour3, ContoursConcat)
    concat_obj (ContoursConcat, FixedContours, ContoursConcat)
    * Try to unify contours
    union_cotangential_contours_xld (ContoursConcat, UnionContours, FitClippingLength, FitLength, MaxTangAngle, MaxDist, TestMaxDistPerp, MaxOverlap, 'attr_forget')
    * Display results
    Text := 'MaxDistPerp = ' + TestMaxDistPerp
    dev_display_results (UnionContours, ContoursConcat, WindowHandle, Title, Text)
    wait_seconds (Delay)
endfor
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* Test positive overlap
Title := 'Test influence of positive MaxOverlap'
DistY := -5
for DistX := -15 to 15 by 1
    * Modify test contours
    gen_ellipse_contour_xld (Contour1, Row[0] - 125 + DistY, Column[0] + DistX, rad(270), 25, 35, 0, rad(90), 'positive', 1.5)
    gen_ellipse_contour_xld (Contour2, Row[1] - 75 + DistY, Column[1] + DistX, rad(0), 35, 25, 0, rad(90), 'positive', 1.5)
    gen_contour_nurbs_xld (Contour3, [100,100,100,100] + DistY, Column[2] + [0,10,20,30] + DistX, 'auto', 'auto', 3, 1, 5)
    concat_obj (Contour1, Contour2, ContoursConcat)
    concat_obj (ContoursConcat, Contour3, ContoursConcat)
    concat_obj (ContoursConcat, FixedContours, ContoursConcat)
    * Try to unify contours
    union_cotangential_contours_xld (ContoursConcat, UnionContours, FitClippingLength, FitLength, MaxTangAngle, MaxDist, MaxDistPerp, abs(TestMaxOverlap), 'attr_forget')
    * Display results
    Text := 'MaxOverlap = ' + abs(TestMaxOverlap)
    dev_display_results (UnionContours, ContoursConcat, WindowHandle, Title, Text)
    wait_seconds (Delay)
endfor
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* Test for negative overlap
Title := 'Test influence of negative MaxOverlap'
DistY := -5
for DistX := -15 to 15 by 1
    * Modify test contours
    gen_ellipse_contour_xld (Contour1, Row[0] - 125 + DistY, Column[0] + DistX, rad(270), 25, 35, 0, rad(90), 'positive', 1.5)
    gen_ellipse_contour_xld (Contour2, Row[1] - 75 + DistY, Column[1] + DistX, rad(0), 35, 25, 0, rad(90), 'positive', 1.5)
    gen_contour_nurbs_xld (Contour3, [100,100,100,100] + DistY, Column[2] + [0,10,20,30] + DistX, 'auto', 'auto', 3, 1, 5)
    concat_obj (Contour1, Contour2, ContoursConcat)
    concat_obj (ContoursConcat, Contour3, ContoursConcat)
    concat_obj (ContoursConcat, FixedContours, ContoursConcat)
    * Try to unify contours
    union_cotangential_contours_xld (ContoursConcat, UnionContours, FitClippingLength, FitLength, MaxTangAngle, MaxDist, MaxDistPerp, -abs(TestMaxOverlap), 'attr_forget')
    * Display results
    Text := 'MaxOverlap = -' + abs(TestMaxOverlap)
    dev_display_results (UnionContours, ContoursConcat, WindowHandle, Title, Text)
    wait_seconds (Delay)
endfor
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* Test settings for the angle between two contours
Title := 'Test influence of MaxTangAngle'
DistX := 10
DistY := 0
hom_mat2d_identity (HomMat2DIdentity)
for Phi := 90 to -90 by -1
    * Modify test contours
    gen_ellipse_contour_xld (Contour1, Row[0] - 125 + DistY, Column[0] + DistX, rad(270), 25, 35, 0, rad(90), 'positive', 1.5)
    hom_mat2d_rotate (HomMat2DIdentity, rad(Phi), Row[0] - 100 + DistY, Column[0] + DistX, HomMat2DRotate)
    affine_trans_contour_xld (Contour1, Contour1, HomMat2DRotate)
    gen_ellipse_contour_xld (Contour2, Row[1] - 75 + DistY, Column[1] + DistX, rad(0), 35, 25, 0, rad(90), 'positive', 1.5)
    hom_mat2d_rotate (HomMat2DIdentity, rad(Phi), Row[1] - 100 + DistY, Column[1] + DistX, HomMat2DRotate)
    affine_trans_contour_xld (Contour2, Contour2, HomMat2DRotate)
    gen_contour_nurbs_xld (Contour3, [100,100,100,100] + DistY, Column[2] + [0,10,20,30] + DistX, 'auto', 'auto', 3, 1, 5)
    hom_mat2d_rotate (HomMat2DIdentity, rad(Phi), Row[2] - 100 + DistY, Column[2] + DistX, HomMat2DRotate)
    affine_trans_contour_xld (Contour3, Contour3, HomMat2DRotate)
    concat_obj (Contour1, Contour2, ContoursConcat)
    concat_obj (ContoursConcat, Contour3, ContoursConcat)
    concat_obj (ContoursConcat, FixedContours, ContoursConcat)
    * Try to unify contours
    union_cotangential_contours_xld (ContoursConcat, UnionContours, FitClippingLength, FitLength, TestMaxTangAngle, MaxDist, MaxDistPerp, TestMaxOverlap, 'attr_forget')
    * Display results
    Text := 'MaxTangAngle = rad(' + deg(TestMaxTangAngle) + ')'
    dev_display_results (UnionContours, ContoursConcat, WindowHandle, Title, Text)
    wait_seconds (Delay / 2)
endfor
set_system ('flush_graphic', FlushGraphic)

Halcon 拟合椭圆

* Approximation of XLD contours by ellipses or elliptic arcs
* 产生一个空的图像
gen_image_const (Image, 'byte', 400, 400)
dev_set_color ('green')
* 形成一个椭圆
gen_ellipse (Ellipse, 200, 200, rad(30), 150, 120)
paint_region (Ellipse, Image, ImageEllipse, 255, 'fill')
* 亚像素边缘提取
edges_sub_pix (ImageEllipse, EdgesComplete, 'mderiche2', 0.5, 20, 40)
* First, the easy case:
* 拟合椭圆
fit_ellipse_contour_xld (EdgesComplete, 'fitzgibbon', -1, 2, 0, 200, 3, 2, Row, Column, Phi, Radius1, Radius2, StartPhi, EndPhi, PointOrder)
* Now simulate a fragmented ellipse:
* 产生亚像素轮廓
gen_ellipse_contour_xld (ContEllipse, Row, Column, Phi, Radius1, Radius2, StartPhi, EndPhi, PointOrder, 1.5)
gen_rectangle2 (Rectangle1, 200, 200, rad(30), 150, 2)
gen_rectangle2 (Rectangle2, 200, 200, rad(120), 150, 2)
union2 (Rectangle1, Rectangle2, Cross)
* 求区域的补给
complement (Cross, CrossComplement)
reduce_domain (ImageEllipse, CrossComplement, ImageEllipseReduced)
edges_sub_pix (ImageEllipseReduced, EdgesIncomplete, 'mderiche2', 0.5, 20, 40)
* Now the difficult case:
* First, make a fit to the individual arcs.
fit_ellipse_contour_xld (EdgesIncomplete, 'fitzgibbon', -1, 2, 0, 200, 3, 2, Row, Column, Phi, Radius1, Radius2, StartPhi, EndPhi, PointOrder)
* Now we would have to determine which elliptic arcs should be merged.
* We assume that the customer is able to do this.
* If not, this could be done by clustering the elliptic arcs based on the centers
* and radii that result from the above fit.
* 
* Now we have to determine in which order the arcs should be merged.
* This can be done by sorting them according to their StartPhi.
Order := sort_index(StartPhi)
* Now construct a new contour from the coordinates of the segments to be merged:
RowsMerged := []
ColsMerged := []
for I := 0 to |Order| - 1 by 1
    select_obj (EdgesIncomplete, SelectedEdge, Order[I] + 1)
    get_contour_xld (SelectedEdge, Rows, Cols)
    if (PointOrder[Order[I]] == 'negative')
        Rows := inverse(Rows)
        Cols := inverse(Cols)
    endif
    RowsMerged := [RowsMerged,Rows]
    ColsMerged := [ColsMerged,Cols]
endfor
dev_set_color ('blue')
gen_contour_polygon_xld (Contour, RowsMerged, ColsMerged)
fit_ellipse_contour_xld (Contour, 'fitzgibbon', -1, 2, 0, 200, 3, 2, Row, Column, Phi, Radius1, Radius2, StartPhi, EndPhi, PointOrder)
dev_set_color ('red')
gen_ellipse_contour_xld (ContEllipseIncomplete, Row, Column, Phi, Radius1, Radius2, StartPhi, EndPhi, PointOrder, 1.5)

clip_contours_xld 亚像素边缘分割案例

* 
* This example program shows how to use clip_contours_xld.
* 
* 
dev_close_window ()
read_image (Angio, 'angio-part')
get_image_size (Angio, Width, Height)
dev_open_window (0, 0, 3 * Width / 2, 3 * Height / 2, 'black', WindowID)
dev_set_part (0, 0, Height - 1, Width - 1)
* 
* Preparation: extract contours from an image.
* 检测线条
lines_gauss (Angio, Lines, 2.3, 0.0, 0.7, 'dark', 'true', 'parabolic', 'true')
dev_display (Angio)
dev_set_color ('yellow')
dev_display (Lines)
stop ()
* 
* Now reduce the image domain. The previously extracted contours
* are clipped accordingly (the original contours are displayed in gray).
* Note, that the  clipped contours end not at the pixel border,
* but at the last contour point that lies within the pixel.
Top := 200
Left := 100
Bottom := 300
Right := 200
gen_rectangle1 (Rectangle, Top, Left, Bottom, Right)
reduce_domain (Angio, Rectangle, AngioReduced)
* 亚像素边缘分割
clip_contours_xld (Lines, LinesClipped, Top, Left, Bottom, Right)
dev_clear_window ()
dev_display (AngioReduced)
dev_set_color ('dim gray')
dev_display (Lines)
dev_set_color ('yellow')
dev_display (LinesClipped)
stop ()
* 
dev_set_color ('white')
disp_arrow (WindowID, 198, 130, 153, 175, 1)
dev_open_window (25, 275, 300, 300, 'black', ZoomWindow)
dev_set_part (198, 126, 202, 130)
dev_display (AngioReduced)
dev_set_color ('dim gray')
dev_display (Lines)
dev_set_color ('yellow')
dev_display (LinesClipped)
stop ()
* 
dev_set_part (0, 0, Height - 1, Width - 1)
dev_close_window ()
dev_set_color ('black')
dev_set_line_width (2)
disp_arrow (WindowID, 198, 130, 153, 175, 1)