最小二乘法拟合圆opencv/halcon实现

注：在使用opencv拟合圆的过程中使用了亚像素提取边缘轮廓。日后更。。。
opencv实现：

typedef struct Box
{
	float x;
	float y;
	float r;
}Box;

Box TestCenter::circleLeastFit(const std::vector<cv::Point2f> &points) {

	Box box;
	box.x = 0.0f;
	box.y = 0.0f;
	box.r = 0.0f;
	if (points.size() < 3)
	{
		return box;
	}

	int i = 0;

	float X1 = 0;
	float Y1 = 0;
	float X2 = 0;
	float Y2 = 0;
	float X3 = 0;
	float Y3 = 0;
	float X1Y1 = 0;
	float X1Y2 = 0;
	float X2Y1 = 0;

	int Sum = points.size();
	for (i = 0; i < Sum; i++)
	{
		X1 = X1 + points[i].x;
		Y1 = Y1 + points[i].y;
		X2 = X2 + points[i].x*points[i].x;
		Y2 = Y2 + points[i].y*points[i].y;
		X3 = X3 + points[i].x*points[i].x*points[i].x;
		Y3 = Y3 + points[i].y*points[i].y*points[i].y;
		X1Y1 = X1Y1 + points[i].x*points[i].y;
		X1Y2 = X1Y2 + points[i].x*points[i].y*points[i].y;
		X2Y1 = X2Y1 + points[i].x*points[i].x*points[i].y;
	}

	float C, D, E, G, H, N;
	float a, b, c;
	N = points.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;

	float A, B, R;
	A = a / (-2);
	B = b / (-2);
	R = sqrt(a*a + b*b - 4 * c) / 2;

	box.x = A;
	box.y = B;
	box.r = R;

	return box;

}

opencv运行结果：

halcon代码

运行结果：