Ellipsoid fitting in C++ using Eigen. Widely inspired by https://www.mathworks.com/matlabcentral/fileexchange/24693-ellipsoid-fit

This library has the same problem as the original Matlab code: radii might not be in the correct order.

This is due to the algorithm relying on eigen values to compute them. These values are not guaranteed to be in any particular order by the algorithms computing them.

A new algorithm or a fix to this one needs to be found.

The ellipsoid-fit package contains the following:

• Libraries:

  • ellipsoid-fit (shared)

• Examples:

  • fitting-example

• Tests:

  • test-ellipsoid-fit

The ellipsoid-fit project is packaged using PID, a build and deployment system based on CMake.

If you wish to adopt PID for your develoment please first follow the installation procedure here.

If you already are a PID user or wish to integrate ellipsoid-fit in your current build system, please read the appropriate section below.

This method is for developers who want to install and access ellipsoid-fit from their PID workspace.

You can use the deploy command to manually install ellipsoid-fit in the workspace:

cd <path to pid workspace>
pid deploy package=ellipsoid-fit # latest version
# OR
pid deploy package=ellipsoid-fit version=x.y.z # specific version

Alternatively you can simply declare a dependency to ellipsoid-fit in your package's CMakeLists.txt and let PID handle everything:

PID_Dependency(ellipsoid-fit) # any version
# OR
PID_Dependency(ellipsoid-fit VERSION x.y.z) # any version compatible with x.y.z

If you need more control over your dependency declaration, please look at PID_Dependency documentation.

Once the package dependency has been added, you can use ellipsoid-fit/ellipsoid-fit as a component dependency.

You can read PID_Component and PID_Component_Dependency documentations for more details.

This method allows to build the package without having to create a PID workspace manually. This method is UNIX only.

All you need to do is to first clone the package locally and then run the installation script:

git clone https://gite.lirmm.fr/rpc/math/ellipsoid-fit.git
cd ellipsoid-fit
./share/install/standalone_install.sh

The package as well as its dependencies will be deployed under binaries/pid-workspace.

You can pass --help to the script to list the available options.

There are two ways to integrate ellipsoid-fit in CMake project: the external API or a system install.

The first one doesn't require the installation of files outside of the package itself and so is well suited when used as a Git submodule for example. Please read this page for more information.

The second option is more traditional as it installs the package and its dependencies in a given system folder which can then be retrived using find_package(ellipsoid-fit). You can pass the --install <path> option to the installation script to perform the installation and then follow these steps to configure your environment, find PID packages and link with their components.

You can pass --pkg-config on to the installation script to generate the necessary pkg-config files. Upon completion, the script will tell you how to set the PKG_CONFIG_PATH environment variable for ellipsoid-fit to be discoverable.

Then, to get the necessary compilation flags run:

pkg-config --static --cflags ellipsoid-fit_ellipsoid-fit

pkg-config --variable=c_standard ellipsoid-fit_ellipsoid-fit

pkg-config --variable=cxx_standard ellipsoid-fit_ellipsoid-fit

To get linker flags run:

pkg-config --static --libs ellipsoid-fit_ellipsoid-fit

With Doxygen installed, the API documentation can be built locally by turning the BUILD_API_DOC CMake option ON and running the doc target, e.g

pid cd ellipsoid-fit
pid -DBUILD_API_DOC=ON doc

The resulting documentation can be accessed by opening <path to ellipsoid-fit>/build/release/share/doc/html/index.html in a web browser.

The license that applies to the whole package content is GNULGPL. Please look at the license.txt file at the root of this repository for more details.

ellipsoid-fit has been developed by the following authors:

• Benjamin Navarro (LIRMM)

Please contact Benjamin Navarro (navarro@lirmm.fr) - LIRMM for more information or questions.