matlab plotPose3: don't draw covariance if it's empty
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				|  | @ -20,7 +20,7 @@ L = [C zAxis]'; | |||
| line(L(:,1),L(:,2),L(:,3),'Color','b'); | ||||
| 
 | ||||
| % plot the covariance | ||||
| if nargin>2 | ||||
| if (nargin>2) && (~isempty(P)) | ||||
|     pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame     | ||||
|     gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame | ||||
|     covarianceEllipse3D(C,gPp);   | ||||
|  |  | |||
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