Ellipsoids3D

3D ellipsoids or spheres.

This archetype is for ellipsoids or spheres whose size is a key part of the data (e.g. a bounding sphere). For points whose radii are for the sake of visualization, use archetypes.Points3D instead.

If there's more instance poses than half sizes, the last ellipsoid/sphere's orientation will be repeated for the remaining poses. Orienting and placing ellipsoids/spheres forms a separate transform that is applied prior to archetypes.InstancePoses3D and archetypes.Transform3D.

Fields fields

Required required

half_sizes: HalfSize3D

Recommended recommended

centers: PoseTranslation3D
colors: Color

Optional optional

rotation_axis_angles: PoseRotationAxisAngle
quaternions: PoseRotationQuat
line_radii: Radius
fill_mode: FillMode
labels: Text
show_labels: ShowLabels
class_ids: ClassId

Can be shown in can-be-shown-in

Spatial3DView
Spatial2DView (if logged above active projection)
DataframeView

API reference links api-reference-links

Example example

Covariance ellipsoid covariance-ellipsoid

"""Log random points and the corresponding covariance ellipsoid."""

import numpy as np
import rerun as rr

rr.init("rerun_example_ellipsoid_simple", spawn=True)

center = np.array([0, 0, 0])
sigmas = np.array([5, 3, 1])
points = np.random.randn(50_000, 3) * sigmas.reshape(1, -1)

rr.log("points", rr.Points3D(points, radii=0.02, colors=[188, 77, 185]))
rr.log(
    "ellipsoid",
    rr.Ellipsoids3D(
        centers=[center, center],
        half_sizes=[sigmas, 3 * sigmas],
        colors=[[255, 255, 0], [64, 64, 0]],
    ),
)

View

Rerun