Merge branch 'develop' to release v2.7.0

MRPT · Mar 4, 2023 · b750be5 · b750be5
2 parents 451f276 + 9610854
commit b750be5
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Showing 315 changed files with 6,551 additions and 3,568 deletions.
diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
@@ -47,6 +47,9 @@ jobs:
 
       - name: Install Dependencies
         run: |
+          # See bug/issue: https://github.com/orgs/community/discussions/47863
+          sudo apt-mark hold grub-efi-amd64-signed 
+
           sudo apt-get -y update
           sudo apt-get -y upgrade
 

diff --git a/apps/2d-slam-demo/slamdemoMain.cpp b/apps/2d-slam-demo/slamdemoMain.cpp
@@ -32,7 +32,7 @@
 #include <mrpt/math/ops_matrices.h>
 #include <mrpt/math/wrap2pi.h>
 #include <mrpt/obs/CObservationComment.h>
-#include <mrpt/opengl/COpenGLScene.h>
+#include <mrpt/opengl/Scene.h>
 #include <mrpt/random.h>
 #include <mrpt/serialization/CArchive.h>
 
@@ -2256,7 +2256,7 @@ void slamdemoFrame::OnMenuSaveFilterState(wxCommandEvent& event)
 		auto obj3D = mrpt::opengl::CSetOfObjects::Create();
 		m_SLAM.getAs3DObject(obj3D);
 
-		mrpt::opengl::COpenGLScene scene;
+		mrpt::opengl::Scene scene;
 		scene.insert(obj3D);
 
 		scene.saveToFile(filName);

diff --git a/apps/3d-rotation-converter/3d-rotation-converter_main.cpp b/apps/3d-rotation-converter/3d-rotation-converter_main.cpp
@@ -439,7 +439,7 @@ static void AppRotationConverter()
 	// Add a background scene:
 	// -----------------------------
 	{
-		auto scene = mrpt::opengl::COpenGLScene::Create();
+		auto scene = mrpt::opengl::Scene::Create();
 		scene->insert(mrpt::opengl::CGridPlaneXY::Create());
 
 		scene->insert(app.gl_corner_user);

diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera.cpp b/apps/DifOdometry-Camera/DifOdometry_Camera.cpp
@@ -302,7 +302,7 @@ void CDifodoCamera::initializeScene()
 	// User-interface information
 	img::CImage img_legend;
 	img_legend.loadFromXPM(legend_xpm);
-	COpenGLViewport::Ptr legend = scene->createViewport("legend");
+	Viewport::Ptr legend = scene->createViewport("legend");
 	legend->setViewportPosition(20, 20, 350, 201);
 	legend->setImageView(img_legend);
 

diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera.h b/apps/DifOdometry-Camera/DifOdometry_Camera.h
@@ -11,7 +11,7 @@
 #include <mrpt/core/round.h>
 #include <mrpt/gui/CDisplayWindow3D.h>
 #include <mrpt/img/CImage.h>
-#include <mrpt/opengl/COpenGLScene.h>
+#include <mrpt/opengl/Scene.h>
 #include <mrpt/system/CTicTac.h>
 #include <mrpt/vision/CDifodo.h>
 
@@ -74,7 +74,7 @@ class CDifodoCamera : public mrpt::vision::CDifodo
 	unsigned int repr_level;
 
 	/** Opengl scene */
-	mrpt::opengl::COpenGLScene::Ptr scene;
+	mrpt::opengl::Scene::Ptr scene;
 
 	// OpenNI variables to manage the camera
 	openni::Status rc;

diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp b/apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp
@@ -269,7 +269,7 @@ void CDifodoDatasets::initializeScene()
 	// User-interface information
 	CImage img_legend;
 	img_legend.loadFromXPM(legend_xpm);
-	COpenGLViewport::Ptr legend = scene->createViewport("legend");
+	Viewport::Ptr legend = scene->createViewport("legend");
 	legend->setViewportPosition(20, 20, 332, 164);
 	legend->setImageView(img_legend);
 

diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets.h b/apps/DifOdometry-Datasets/DifOdometry_Datasets.h
@@ -12,7 +12,7 @@
 #include <mrpt/img/CImage.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CRawlog.h>
-#include <mrpt/opengl/COpenGLScene.h>
+#include <mrpt/opengl/Scene.h>
 #include <mrpt/vision/CDifodo.h>
 
 #include <Eigen/Dense>
@@ -28,7 +28,7 @@ class CDifodoDatasets : public mrpt::vision::CDifodo
 	mrpt::poses::CPose3D gt_oldpose;
 
 	/** Opengl scene */
-	mrpt::opengl::COpenGLScene::Ptr scene;
+	mrpt::opengl::Scene::Ptr scene;
 	mrpt::gui::CDisplayWindow3D window;
 	mrpt::obs::CRawlog dataset;
 	std::ifstream f_gt;

diff --git a/apps/GridmapNavSimul/gridmapSimulMain.cpp b/apps/GridmapNavSimul/gridmapSimulMain.cpp
@@ -396,7 +396,7 @@ gridmapSimulFrame::gridmapSimulFrame(wxWindow* parent, wxWindowID id)
 	FlexGridSizer9->Add(
 		StaticText9, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
 	edAxb = new wxTextCtrl(
-		Panel3, ID_TEXTCTRL6, _("1e-5"), wxDefaultPosition, wxDefaultSize, 0,
+		Panel3, ID_TEXTCTRL6, _("1e-2"), wxDefaultPosition, wxDefaultSize, 0,
 		wxDefaultValidator, _T("ID_TEXTCTRL6"));
 	FlexGridSizer9->Add(
 		edAxb, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL,
@@ -407,7 +407,7 @@ gridmapSimulFrame::gridmapSimulFrame(wxWindow* parent, wxWindowID id)
 	FlexGridSizer9->Add(
 		StaticText13, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
 	edAxs = new wxTextCtrl(
-		Panel3, ID_TEXTCTRL7, _("10e-4"), wxDefaultPosition, wxDefaultSize, 0,
+		Panel3, ID_TEXTCTRL7, _("0.01"), wxDefaultPosition, wxDefaultSize, 0,
 		wxDefaultValidator, _T("ID_TEXTCTRL7"));
 	FlexGridSizer9->Add(
 		edAxs, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL,
@@ -418,7 +418,7 @@ gridmapSimulFrame::gridmapSimulFrame(wxWindow* parent, wxWindowID id)
 	FlexGridSizer9->Add(
 		StaticText10, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
 	edAyb = new wxTextCtrl(
-		Panel3, ID_TEXTCTRL8, _("1e-5"), wxDefaultPosition, wxDefaultSize, 0,
+		Panel3, ID_TEXTCTRL8, _("0.01"), wxDefaultPosition, wxDefaultSize, 0,
 		wxDefaultValidator, _T("ID_TEXTCTRL8"));
 	FlexGridSizer9->Add(
 		edAyb, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL,
@@ -429,7 +429,7 @@ gridmapSimulFrame::gridmapSimulFrame(wxWindow* parent, wxWindowID id)
 	FlexGridSizer9->Add(
 		StaticText11, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
 	edAys = new wxTextCtrl(
-		Panel3, ID_TEXTCTRL9, _("10e-4"), wxDefaultPosition, wxDefaultSize, 0,
+		Panel3, ID_TEXTCTRL9, _("0.10"), wxDefaultPosition, wxDefaultSize, 0,
 		wxDefaultValidator, _T("ID_TEXTCTRL9"));
 	FlexGridSizer9->Add(
 		edAys, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL,
@@ -440,7 +440,7 @@ gridmapSimulFrame::gridmapSimulFrame(wxWindow* parent, wxWindowID id)
 	FlexGridSizer9->Add(
 		StaticText12, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
 	edApb = new wxTextCtrl(
-		Panel3, ID_TEXTCTRL10, _("5e-4"), wxDefaultPosition, wxDefaultSize, 0,
+		Panel3, ID_TEXTCTRL10, _("0.01"), wxDefaultPosition, wxDefaultSize, 0,
 		wxDefaultValidator, _T("ID_TEXTCTRL10"));
 	FlexGridSizer9->Add(
 		edApb, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL,
@@ -451,7 +451,7 @@ gridmapSimulFrame::gridmapSimulFrame(wxWindow* parent, wxWindowID id)
 	FlexGridSizer9->Add(
 		StaticText14, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
 	edAps = new wxTextCtrl(
-		Panel3, ID_TEXTCTRL11, _("10e-4"), wxDefaultPosition, wxDefaultSize, 0,
+		Panel3, ID_TEXTCTRL11, _("0.01"), wxDefaultPosition, wxDefaultSize, 0,
 		wxDefaultValidator, _T("ID_TEXTCTRL11"));
 	FlexGridSizer9->Add(
 		edAps, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL,

diff --git a/apps/RawLogViewer/CFormMotionModel.cpp b/apps/RawLogViewer/CFormMotionModel.cpp
@@ -168,10 +168,8 @@ CFormMotionModel::CFormMotionModel(wxWindow* parent, wxWindowID id)
 		btnOk, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
 	HyperlinkCtrl1 = new wxHyperlinkCtrl(
 		this, ID_HYPERLINKCTRL1,
-		_("http://www.mrpt.org/tutorials/programming/"
-		  "odometry-and-motion-models/probabilistic_motion_models/"),
-		_("http://www.mrpt.org/tutorials/programming/"
-		  "odometry-and-motion-models/probabilistic_motion_models/"),
+		_("https://docs.mrpt.org/reference/latest/tutorial-motion-models.html"),
+		_("https://docs.mrpt.org/reference/latest/tutorial-motion-models.html"),
 		wxDefaultPosition, wxDefaultSize,
 		wxHL_CONTEXTMENU | wxHL_ALIGN_CENTRE | wxNO_BORDER,
 		_T("ID_HYPERLINKCTRL1"));

diff --git a/apps/RawLogViewer/CFormRawMap.cpp b/apps/RawLogViewer/CFormRawMap.cpp
@@ -386,7 +386,7 @@ CFormRawMap::~CFormRawMap()
 	//*)
 }
 
-void loadMapInto3DScene(COpenGLScene& scene)
+void loadMapInto3DScene(Scene& scene)
 {
 	{
 		TPoint3D minC, maxC;
@@ -779,7 +779,7 @@ void CFormRawMap::OnbtnSave3DClick(wxCommandEvent&)
 			wxBusyCursor waitCursor;
 
 			CFileGZOutputStream fil(std::string(dialog.GetPath().mb_str()));
-			COpenGLScene scene;
+			Scene scene;
 
 			loadMapInto3DScene(scene);
 
@@ -1387,12 +1387,12 @@ void CFormRawMap::OnbtnSavePathClick(wxCommandEvent&)
 void CFormRawMap::OnbtnSaveObsPathClick(wxCommandEvent&) {}
 void CFormRawMap::OnbtnView3DClick(wxCommandEvent&)
 {
-	COpenGLScene scene;
+	Scene scene;
 
 	loadMapInto3DScene(scene);
 
 	win3Dmap = CDisplayWindow3D::Create("Raw-map 3D preview");
-	COpenGLScene::Ptr the_scene = win3Dmap->get3DSceneAndLock();
+	Scene::Ptr the_scene = win3Dmap->get3DSceneAndLock();
 	*the_scene = scene;
 	win3Dmap->unlockAccess3DScene();
 	win3Dmap->repaint();

diff --git a/apps/RawLogViewer/main_gps_ops.cpp b/apps/RawLogViewer/main_gps_ops.cpp
@@ -183,7 +183,7 @@ void xRawLogViewerFrame::OnMenuDrawGPSPath(wxCommandEvent& event)
 		"GPS path, %i points (%s) %.03f meters length", int(M),
 		the_label.c_str(), overall_distance));
 
-	COpenGLScene scene;
+	Scene scene;
 	CPointCloud::Ptr gl_path = std::make_shared<CPointCloud>();
 	gl_path->setAllPoints(xs, ys, zs);
 	gl_path->setColor(0, 0, 1);
@@ -195,7 +195,7 @@ void xRawLogViewerFrame::OnMenuDrawGPSPath(wxCommandEvent& event)
 	scene.insert(
 		std::make_shared<CAxis>(-300, -300, -50, 300, 300, 50, 1.0, 3, true));
 
-	COpenGLScene::Ptr the_scene = winGPSPath->get3DSceneAndLock();
+	Scene::Ptr the_scene = winGPSPath->get3DSceneAndLock();
 	*the_scene = scene;
 	winGPSPath->unlockAccess3DScene();
 	winGPSPath->repaint();

diff --git a/apps/RawLogViewer/main_timeline.cpp b/apps/RawLogViewer/main_timeline.cpp
@@ -89,8 +89,7 @@ void xRawLogViewerFrame::createTimeLineObjects(wxFlexGridSizer* fgzMain)
 
 	// Set-up bottom timeline view opengl objects:
 	{
-		mrpt::opengl::COpenGLScene::Ptr& scene =
-			m_glTimeLine->getOpenGLSceneRef();
+		mrpt::opengl::Scene::Ptr& scene = m_glTimeLine->getOpenGLSceneRef();
 		scene->clear();
 
 		// Enable no-projection mode in this viewport:

diff --git a/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo.h b/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo.h
@@ -493,7 +493,7 @@ class CMyReactInterface
 	std::vector<CRobotKinects> kinects;
 	CShortTermMemory stm;
 	gui::CDisplayWindow3D window;
-	COpenGLScene::Ptr scene;
+	Scene::Ptr scene;
 
 	bool getCurrentPoseAndSpeeds(
 		mrpt::math::TPose2D& curPose, mrpt::math::TTwist2D& curVel,

diff --git a/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp b/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp
@@ -1085,7 +1085,7 @@ void reactive_navigator_demoframe::OnAbout(wxCommandEvent&)
 
 void reactive_navigator_demoframe::updateMap3DView()
 {
-	gl_grid = m_gridMap.getVisualization();
+	m_gridMap.getVisualizationInto(*gl_grid);
 }
 
 void reactive_navigator_demoframe::OnbtnPlaceRobotClick(wxCommandEvent& event)

diff --git a/apps/SceneViewer3D/_DSceneViewerMain.cpp b/apps/SceneViewer3D/_DSceneViewerMain.cpp
@@ -77,10 +77,10 @@ const std::string iniFileSect("CONF_LIN");
 #include <mrpt/opengl/CAssimpModel.h>
 #include <mrpt/opengl/CFBORender.h>
 #include <mrpt/opengl/CGridPlaneXY.h>
-#include <mrpt/opengl/COpenGLScene.h>
 #include <mrpt/opengl/CPlanarLaserScan.h>  // It's in lib mrpt-maps
 #include <mrpt/opengl/CPointCloud.h>
 #include <mrpt/opengl/CPointCloudColoured.h>
+#include <mrpt/opengl/Scene.h>
 #include <mrpt/opengl/stock_objects.h>
 #include <mrpt/serialization/CArchive.h>
 #include <mrpt/system/CDirectoryExplorer.h>
@@ -817,7 +817,7 @@ void _DSceneViewerFrame::OnNewScene(wxCommandEvent& event)
 	openGLSceneRef->insert(stock_objects::CornerXYZ());
 
 	// Add a clone viewport:
-	COpenGLViewport::Ptr vi = openGLSceneRef->createViewport("clone");
+	Viewport::Ptr vi = openGLSceneRef->createViewport("clone");
 	vi->setViewportPosition(0.05, 0.05, 0.2, 0.2);
 	vi->setCloneView("main");
 	vi->setCloneCamera(true);
@@ -887,7 +887,7 @@ void _DSceneViewerFrame::loadFromFile(
 		// Change the camera if necesary:
 		if (openGLSceneRef->followCamera())
 		{
-			COpenGLViewport::Ptr view = openGLSceneRef->getViewport("main");
+			Viewport::Ptr view = openGLSceneRef->getViewport("main");
 			ASSERTMSG_(
 				view, "ERROR: there is no 'main' viewport in the 3D scene!");
 
@@ -1215,7 +1215,7 @@ void _DSceneViewerFrame::OnTravellingTrigger(wxTimerEvent& event)
 		else
 		{
 			// Change the camera
-			COpenGLViewport::Ptr view = openGLSceneRef->getViewport("main");
+			Viewport::Ptr view = openGLSceneRef->getViewport("main");
 
 			if (!view)
 				THROW_EXCEPTION(
@@ -1303,7 +1303,7 @@ void _DSceneViewerFrame::OnStartCameraTravelling(wxCommandEvent& event)
 		else
 		{
 			// Change the camera
-			COpenGLViewport::Ptr view = openGLSceneRef->getViewport("main");
+			Viewport::Ptr view = openGLSceneRef->getViewport("main");
 
 			if (!view)
 				THROW_EXCEPTION(
@@ -1705,7 +1705,7 @@ void _DSceneViewerFrame::OnMenuItemImportPLYPointCloud(wxCommandEvent& event)
 		{
 			auto openGLSceneRef = m_canvas->getOpenGLSceneRef();
 			// Set the point cloud as the only object in scene:
-			openGLSceneRef = std::make_shared<opengl::COpenGLScene>();
+			openGLSceneRef = std::make_shared<opengl::Scene>();
 
 			if (dlgPLY.cbXYGrid->GetValue())
 			{
@@ -2099,7 +2099,7 @@ void _DSceneViewerFrame::OnmnuImportLASSelected(wxCommandEvent& event)
 		const double scene_size = bb.min.distanceTo(bb.max);
 
 		// Set the point cloud as the only object in scene:
-		auto scene = std::make_shared<opengl::COpenGLScene>();
+		auto scene = std::make_shared<opengl::Scene>();
 		m_canvas->setOpenGLSceneRef(scene);
 
 		if (dlgPLY.cbXYGrid->GetValue())
@@ -2154,7 +2154,7 @@ void _DSceneViewerFrame::OnmnuImportLASSelected(wxCommandEvent& event)
 		m_canvas->setAzimuthDegrees(45);
 		m_canvas->setElevationDegrees(30);
 
-		COpenGLViewport::Ptr gl_view = scene->getViewport();
+		Viewport::Ptr gl_view = scene->getViewport();
 		gl_view->setViewportClipDistances(0.01, 10 * scene_size);
 
 		loadedFileName =
@@ -2198,7 +2198,7 @@ void _DSceneViewerFrame::OnmnuImportImageView(wxCommandEvent&)
 {
 	try
 	{
-		auto scene = std::make_shared<opengl::COpenGLScene>();
+		auto scene = std::make_shared<opengl::Scene>();
 		m_canvas->setOpenGLSceneRef(scene);
 		wxFileDialog dialog(
 			this, _("Choose the LAS file to import"),
@@ -2217,7 +2217,7 @@ void _DSceneViewerFrame::OnmnuImportImageView(wxCommandEvent&)
 		if (!im.loadFromFile(fil))
 			THROW_EXCEPTION_FMT("Error loading image file: '%s'", fil.c_str());
 
-		COpenGLViewport::Ptr gl_view = scene->getViewport();
+		Viewport::Ptr gl_view = scene->getViewport();
 		gl_view->setImageView(im);
 
 		Refresh();

diff --git a/apps/camera-calib/CDlgPoseEst.cpp b/apps/camera-calib/CDlgPoseEst.cpp
@@ -282,7 +282,7 @@ CDlgPoseEst::CDlgPoseEst(
 	pose_mat << -25, 25, 100, -0.1, 0.25, 0.5;
 	//*)
 
-	scene = mrpt::opengl::COpenGLScene::Create();
+	scene = mrpt::opengl::Scene::Create();
 	cor = mrpt::opengl::stock_objects::CornerXYZ();
 	cor1 = mrpt::opengl::stock_objects::CornerXYZ();
 

diff --git a/apps/camera-calib/CDlgPoseEst.h b/apps/camera-calib/CDlgPoseEst.h
@@ -138,7 +138,7 @@ class CDlgPoseEst : public wxDialog
 	mrpt::vision::pnp::CPnP pnp_algos;
 	Eigen::MatrixXd obj_pts, img_pts, pose_mat, cam_intrinsic, I3;
 
-	mrpt::opengl::COpenGLScene::Ptr scene;
+	mrpt::opengl::Scene::Ptr scene;
 	mrpt::opengl::CSetOfObjects::Ptr cor, cor1;
 	mrpt::opengl::CGridPlaneXY::Ptr grid;
 

diff --git a/apps/camera-calib/camera_calib_guiMain.cpp b/apps/camera-calib/camera_calib_guiMain.cpp
@@ -799,8 +799,7 @@ void camera_calib_guiDialog::OnlbFilesSelect(wxCommandEvent& event)
 
 void camera_calib_guiDialog::show3Dview()
 {
-	mrpt::opengl::COpenGLScene::Ptr scene =
-		mrpt::opengl::COpenGLScene::Create();
+	mrpt::opengl::Scene::Ptr scene = mrpt::opengl::Scene::Create();
 
 	const unsigned int check_size_x = edSizeX->GetValue();
 	const unsigned int check_size_y = edSizeY->GetValue();

diff --git a/apps/graph-slam/display_graph.cpp b/apps/graph-slam/display_graph.cpp
@@ -81,7 +81,7 @@ void display_graph(const GRAPHTYPE& g)
 		}
 	}
 
-	mrpt::opengl::COpenGLScene::Ptr& scene = win.get3DSceneAndLock();
+	mrpt::opengl::Scene::Ptr& scene = win.get3DSceneAndLock();
 	scene->insert(objGraph);
 
 	win.unlockAccess3DScene();
@@ -153,7 +153,7 @@ void display_graph(const GRAPHTYPE& g)
 						std::cout << "Dumping scene to file: " << sFil
 								  << std::endl;
 
-						mrpt::opengl::COpenGLScene scene;
+						mrpt::opengl::Scene scene;
 						scene.insert(m_new_3dobj);
 						mrpt::io::CFileGZOutputStream f(sFil);
 						mrpt::serialization::archiveFrom(f) << scene;
@@ -225,9 +225,8 @@ void display_graph(const GRAPHTYPE& g)
 	win_feedback.observeBegin(win);
 	// and openglviewport events:
 	{
-		COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();
-		opengl::COpenGLViewport::Ptr the_main_view =
-			theScene->getViewport("main");
+		Scene::Ptr& theScene = win.get3DSceneAndLock();
+		opengl::Viewport::Ptr the_main_view = theScene->getViewport("main");
 		win_feedback.observeBegin(*the_main_view);
 		win.unlockAccess3DScene();
 	}

diff --git a/apps/hmt-slam-gui/generate_3d_views.cpp b/apps/hmt-slam-gui/generate_3d_views.cpp
@@ -199,9 +199,8 @@ void hmt_slam_guiFrame::updateLocalMapView()
 
 						ellip->setCovMatrix(C);
 						ellip->setQuantiles(3);
-						ellip->setLocation(
-							ellip->getPoseX(), ellip->getPoseY(),
-							ellip->getPoseZ() + 0.5);
+						const auto p = ellip->getPose().translation();
+						ellip->setLocation(p.x, p.y, p.z + 0.5);
 						ellip->setColor(1, 0, 0);
 						ellip->setLineWidth(3);