You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
2.8 KiB
61 lines
2.8 KiB
/**************************************************************************** |
|
* |
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
|
* Author: Lorenz Meier <lm@inf.ethz.ch> |
|
* |
|
* Redistribution and use in source and binary forms, with or without |
|
* modification, are permitted provided that the following conditions |
|
* are met: |
|
* |
|
* 1. Redistributions of source code must retain the above copyright |
|
* notice, this list of conditions and the following disclaimer. |
|
* 2. Redistributions in binary form must reproduce the above copyright |
|
* notice, this list of conditions and the following disclaimer in |
|
* the documentation and/or other materials provided with the |
|
* distribution. |
|
* 3. Neither the name PX4 nor the names of its contributors may be |
|
* used to endorse or promote products derived from this software |
|
* without specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
/** |
|
* @file calibration_routines.h |
|
* Calibration routines definitions. |
|
* |
|
* @author Lorenz Meier <lm@inf.ethz.ch> |
|
*/ |
|
|
|
/** |
|
* Least-squares fit of a sphere to a set of points. |
|
* |
|
* Fits a sphere to a set of points on the sphere surface. |
|
* |
|
* @param x point coordinates on the X axis |
|
* @param y point coordinates on the Y axis |
|
* @param z point coordinates on the Z axis |
|
* @param size number of points |
|
* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100. |
|
* @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times. |
|
* @param sphere_x coordinate of the sphere center on the X axis |
|
* @param sphere_y coordinate of the sphere center on the Y axis |
|
* @param sphere_z coordinate of the sphere center on the Z axis |
|
* @param sphere_radius sphere radius |
|
* |
|
* @return 0 on success, 1 on failure |
|
*/ |
|
int sphere_fit_least_squares(const float x[], const float y[], const float z[], |
|
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius); |