diff options
Diffstat (limited to 'src/modules/commander/calibration_routines.cpp')
| -rw-r--r-- | src/modules/commander/calibration_routines.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index 9d79124e7..43f341ae7 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -40,6 +40,7 @@ */ #include <math.h> +#include <float.h> #include "calibration_routines.h" @@ -179,9 +180,9 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2); aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2); aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2); - aA = (aA == 0.0f) ? 1.0f : aA; - aB = (aB == 0.0f) ? 1.0f : aB; - aC = (aC == 0.0f) ? 1.0f : aC; + aA = (fabsf(aA) < FLT_EPSILON) ? 1.0f : aA; + aB = (fabsf(aB) < FLT_EPSILON) ? 1.0f : aB; + aC = (fabsf(aC) < FLT_EPSILON) ? 1.0f : aC; //Compute next iteration nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA); |