lm_fit.hpp
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* 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.
*
****************************************************************************/
#pragma once
#include <matrix/matrix/math.hpp>
#include <px4_platform_common/defines.h>
struct sphere_params {
matrix::Vector3f offset, diag{1.f, 1.f, 1.f}, offdiag;
float radius{0.2f};
};
/**
* 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 samples_collected number of points
* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
* @param params the values to be optimized
* @param full_ellipsoid whether to just optimize a sphere, or do an ellipsoid optimization
*
* NB!! If you optimize the full ellipsoid, you must have already optimized without the full ellipsoid
*
* @return 0 on success, 1 on failure
*/
int lm_mag_fit(const float x[], const float y[], const float z[], unsigned int samples_collected, sphere_params ¶ms,
bool full_ellipsoid);