Extract Line

## Extract Line

Find edge points that meet the gradient response value, and use RANSAC to fit a straight line.

## Parameter Configuration Description

### Main Interface Parameters
![](/media/202601//1767686687.7373388.png)

**[Gradient Threshold]** The grayscale gradient of the edge position along the scanning direction; points greater than this threshold are retained.
*   For clear images with obvious edges: Set a higher value (>40).
*   For blurry images or indistinct edges: Set a lower value (10-30).
![](/media/202601/tidu_1769762616.png)

**[Line Scanning Direction]** Scan from top to bottom or from bottom to top, indicated by the arrow on the ROI.

**[Line Polarity]**
*   **Black to White:** Along the rectangular arrow, pointing from a low grayscale area to a high grayscale area.
*   **White to Black:** Along the rectangular arrow, pointing from a high grayscale area to a low grayscale area.
*   **All:** Can detect both black-to-white and white-to-black transitions.
![](/media/202601/jixing_1769766940.png)

**[Fitting Point Selection]**
*   **All Points:** Use all detected edge points.
*   **Strongest Point:** Use the edge point with the maximum gradient value encountered along the scanning direction.
*   **First Row Points:** Use the first edge point encountered along the scanning direction.
*   **Last Row Points:** Use the last edge point encountered along the scanning direction.

![](/media/202602/拟合点选择_1770083578.png)

**[Line Filtering]**
*   **Optimal Fit:** Comprehensively considers the best-fitted line.
*   **Most Fitting Points:** The line with the highest number of qualifying fitting points among all fitted lines.
*   **Strongest Fit:** The line with the strongest gradient values for its fitting points among all fitted lines.
*   **First Line:** The first line fitted along the scanning direction.
*   **Last Line:** The last line fitted along the scanning direction.
*   **Specified ID Line:** Filters out the line with the specified ID along the scanning direction.

### Advanced Parameters
![](/media/202601//1767686688.072281.png)

**Filtering Parameters:**

**[Gaussian Filter Threshold]** The σ in the Gaussian function, which can be understood as half the width of the transition region pixels. (A larger value reduces noise impact but blurs edges; a smaller value retains more detail but increases noise impact.)
![](/media/202602/滤波阈值_1770111631.png)

**[Angle Range Relative to ROI]** The allowable deviation angle for the fitted line relative to the ROI. As shown below, if the "Angle Range Relative to ROI" is set to 16, and the difference between the Line Angle and ROI Angle is 9, it falls within 16, so the line is considered valid.

![](/media/202602/与ROI角度_1770110521.png)

**[Sampling Points Count]** The number of uniform divisions perpendicular to the ROI scanning line.

![](/media/202602/采样点数_1770016300.png)

**[Sampling Point Width]** Based on the center points divided evenly by the sampling points count, take the sampling point width to form small rectangular regions. Calculate and judge along the scanning direction within these small rectangular regions to check for qualifying edge points.

![](/media/202602/采样点宽度_1770017004.png)

**[Minimum Fitting Points Count]** The minimum number of fitting points required for line fitting. If the count is less than this value, the fitting is considered failed. As shown below, the fitting points count is set to 5, and the total number of points marked by white circles is 6.
![](/media/202602/最少拟合点数_1770111223.png)

**[Distance Threshold]** Edge points whose perpendicular distance to the fitted line is less than this value will be used for line fitting. As shown below, detected edge points with a distance to the line less than the distance threshold are displayed in blue, while those greater than the threshold are displayed in red.

![](/media/202602/距离阈值_1770630645.png)

**[Maximum Iterations]** The maximum number of iterations required. If a line meeting the conditions is fitted early, the fitting process can stop prematurely.

**[Iterations Without Improvement]** Stop iteration if the line fitting effect does not continue to improve during the fitting process.

**[Score Threshold]** The final score used to judge the line. If the score is less than this threshold, the fitting is considered failed. The range is 0-1. The score is calculated by summing the perpendicular distances from all edge points to the fitted line; the smaller the sum, the higher the score. When all fitting points lie exactly on the fitted line, the score is 1.

**Judgment Parameters:**

**[Angle Judgment]** When this judgment condition is enabled, if the angle of the fitted line is not within the specified range, the fitting is considered failed.

### ROI Settings
![](/media/202601//1767686688.3281448.png)

**[ROI Type]** The default ROI type for the detection area is a skewed rectangle.

**[ROI Source]**
*   **Manual ROI:** Allows manual dragging of the ROI position and size in the window.
*   **Referenced ROI:** Allows connecting to an external ROI via a port.

**[Position Correction]** Selecting pose correction allows connection to a coordinate system, enabling the ROI area to move with the coordinate system.

**[Position Adjustment]** Adjust the position and size of the ROI.

### Mask Settings
![](/media/202602/掩膜设置_1770632097.png)

**[Mask Enable]**
*   **Disable:** The mask will not take effect.
*   **Enable:** The mask takes effect.

**[Mask Type]**
*   **Exclude Mask:** Do not detect areas within the mask.
*   **Include Mask:** Only detect areas within the mask.

**[Mask Source]**
*   **Manual Mask:** Allows editing the mask using brushes, shapes, etc., to draw the mask area.
*   **Referenced Mask:** Allows connecting to existing ports to import port data and automatically draw the mask area.

## Output Description
*   **Run Result:** Outputs `True` if a line is successfully found; outputs `False` if failed.
*   **Fitting Error:** The average error of the edge points used for line fitting relative to the line.
*   **Line Angle:** The angle of the detected line.
*   **Fitting Points Count:** The number of edge points used for line fitting.
*   **Line Midpoint:** The midpoint of the detected line.
*   **Line Output:** The detected line.
*   **Skewed Rectangle ROI:** The ROI used for detection.
*   **Fitting Points Array:** The set of edge points used for line fitting.
*   **Mask Area:** The output mask.
![](/media/202602/直线结果输出_1770113884.png)

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Click here to jump to the corresponding Chinese manual page: [Extract Line](/doc/83)