forked from Archive/PX4-Autopilot
61 lines
2.8 KiB
C
61 lines
2.8 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file calibration_routines.h
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* Calibration routines definitions.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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/**
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* Least-squares fit of a sphere to a set of points.
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*
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* Fits a sphere to a set of points on the sphere surface.
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*
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* @param x point coordinates on the X axis
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* @param y point coordinates on the Y axis
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* @param z point coordinates on the Z axis
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* @param size number of points
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* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
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* @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
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* @param sphere_x coordinate of the sphere center on the X axis
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* @param sphere_y coordinate of the sphere center on the Y axis
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* @param sphere_z coordinate of the sphere center on the Z axis
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* @param sphere_radius sphere radius
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*
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* @return 0 on success, 1 on failure
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*/
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int sphere_fit_least_squares(const float x[], const float y[], const float z[],
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unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius); |