matlab plotPose3: don't draw covariance if it's empty
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2dbbd9f989
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3bad1346d6
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@ -20,7 +20,7 @@ L = [C zAxis]';
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line(L(:,1),L(:,2),L(:,3),'Color','b');
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% plot the covariance
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if nargin>2
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if (nargin>2) && (~isempty(P))
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pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame
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gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame
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covarianceEllipse3D(C,gPp);
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