opencv2 Mat 根据线段line进行圆拟合

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//对数据line进行拟合圆拟合

typedef struct Line {Point p1; //起点Point p2; //终点double angle;double lenth;Point center; //起点} LINE;

typedef struct cir {Point center;int radius;} CIR;//对数据进行拟合  圆拟合cir fit_circle(Mat & img, vector<Line> &line, double A,double B, double R) {//cout << "into fit_circle " << endl;cir circ;Mat image;img.copyTo(image);int i;double X1, X2, X3, Y1, Y2, Y3, X1Y1, X1Y2, X2Y1;double C, D, E, G, H, N;double a, b, c;//拟合数据数量判断if (line.size() < g_config_port.fit_circle_line_size) {printf("Error: line  data number is less than 3!\n");circ.center = Point(0, 0);circ.radius = 0;return circ;}X1 = X2 = X3 = Y1 = Y2 = Y3 = X1Y1 = X1Y2 = X2Y1 = 0;for (i = 0; i < line.size(); i++) {X1 = X1 + line[i].center.x;Y1 = Y1 + line[i].center.y;X2 = X2 + line[i].center.x * line[i].center.x;Y2 = Y2 + line[i].center.y * line[i].center.y;X3 = X3 + line[i].center.x * line[i].center.x * line[i].center.x;Y3 = Y3 + line[i].center.y * line[i].center.y * line[i].center.y;X1Y1 = X1Y1 + line[i].center.x * line[i].center.y;X1Y2 = X1Y2 + line[i].center.x * line[i].center.y * line[i].center.y;X2Y1 = X2Y1 + line[i].center.x * line[i].center.x * line[i].center.y;}N = line.size();C = N * X2 - X1 * X1;D = N * X1Y1 - X1 * Y1;E = N * X3 + N * X1Y2 - (X2 + Y2) * X1;G = N * Y2 - Y1 * Y1;H = N * X2Y1 + N * Y3 - (X2 + Y2) * Y1;a = (H * D - E * G) / (C * G - D * D);b = (H * C - E * D) / (D * D - G * C);c = -(a * X1 + b * Y1 + X2 + Y2) / N;A = a / (-2);B = b / (-2);R = sqrt(a * a + b * b - 4 * c) / 2;Point cen = Point(int(A), int(B));int rad;circ.center = cen;circ.radius = int(R);#ifdef SHOWIMAGE//   namedWindow("circle fit");//  imshow("circle fit",image);#endif//cout << " fit_circle over " << endl;return circ;}

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