Class CEllipsoid3D

Inheritance Relationships

Base Type

Class Documentation

class CEllipsoid3D : public mrpt::viz::CGeneralizedEllipsoidTemplate<3>

A 3D ellipsoid, centered at zero with respect to this object pose. The color is determined by the RGBA fields in the class “CRenderizable”. Note that a transparent ellipsoid can be drawn for “0<alpha<1” values. If any of the eigen values of the covariance matrix of the ellipsoid is zero, nothing will be rendered.

Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning the mathematical details about setting the desired confidence interval.

../../output_staging/generated/doxygen/xml/preview_CEllipsoid.png

See also

opengl::Scene

Public Functions

CEllipsoid3D() = default
virtual ~CEllipsoid3D() override = default
inline void set3DsegmentsCount(unsigned int N)

The number of segments of a 3D ellipse (in both “axes”) (default=20)

virtual bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const override

Ray tracing

Protected Functions

void transformFromParameterSpace(const std::vector<BASE::array_parameter_t> &in_pts, std::vector<BASE::array_point_t> &out_pts) const override

To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.