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Plot a Gaussian 3D representation with markers in rviz

Hi people! I'm thinking of plotting a 3D Gaussian Model with a marker defined by a mean vector and a covariance matrix. Is there any rviz plugin to render this? If not, is it possible to do so plotting a marker?

I think it could be possible just plotting a sphere centered in the mean vector and apply to it a linear deformation using the covariance matrix.

Any idea or suggestion about how to address this problem?

Plot a Gaussian 3D representation with markers in rviz

Hi people! I'm thinking of plotting a 3D Gaussian Model with a marker defined by a mean vector and a covariance matrix. Is there any rviz plugin to render this? If not, is it possible to do so plotting a marker?

I think it could be possible just plotting a sphere centered in the mean vector and apply to it a linear deformation using the covariance matrix.

Any idea or suggestion about how to address this problem?

EDITED: after the responses I made a blog entry to illustrate the problem: http://geus.wordpress.com/2011/09/15/how-to-represent-a-3d-normal-function-with-ros-rviz/