198 {
202 SoPointSet * points = new SoPointSet;
203 SoVertexProperty *
vertices =
new SoVertexProperty;
205 points->numPoints=1;
206 points->vertexProperty.setValue(
vertices);
207 m_sep->addChild(points);
208 return;
209 }
210
211 SoTranslation * translation = new SoTranslation;
212 translation->translation.setValue (
pos.x(),
pos.y(),
pos.z() );
213 m_sep->addChild ( translation );
214
216
217
219
220
221 double a(errMat(0,0)),
b(errMat(0,1)),
c(errMat(0,2)),
222 d(errMat(1,1)),
e(errMat(1,2)),
224 double det =
a*(
d*
f-
e*
e) + 2*b*c*e - d*c*c-f*b*b;
225 if (det>0) {
226 double sixthrootofdet =
exp(
log(det)/6.0);
227 double invdet = 1.0/sixthrootofdet;
234 SbMatrix sbMat(
a,b,c,0,
235 b,d,e,0,
236 c,e,f,0,
237 0,0,0,1);
238 SoMatrixTransform * matTrans = new SoMatrixTransform();
239 matTrans->matrix.setValue(sbMat);
240 m_sep->addChild (matTrans);
241 } else {
242
243 }
244 }
245
246 SoSphere * sphere = new SoSphere;
247 sphere->radius = fabs(
r);
248 m_sep->addChild ( sphere );
249 }
#define AmgSymMatrix(dim)
VertexSysController * controller
QList< VertexHandle * > vertices
double reconVertexRepresentation() const
Eigen::Matrix< double, 3, 1 > Vector3D