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

Required

• half_sizes: HalfSize3D

Recommended

• centers: Translation3D
• colors: Color

Optional

• rotation_axis_angles: RotationAxisAngle
• quaternions: RotationQuat
• line_radii: Radius
• fill_mode: FillMode
• labels: Text
• show_labels: ShowLabels
• class_ids: ClassId

Can be shown in

• Spatial3DView
• Spatial2DView (if logged above active projection)
• DataframeView

API reference links

• 🌊 C++ API docs for Ellipsoids3D
• 🐍 Python API docs for Ellipsoids3D
• 🦀 Rust API docs for Ellipsoids3D

Example

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