From 3bad1346d6ee276f8e89ea5ef06ad708c1d710b7 Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Fri, 8 Jun 2012 22:34:03 +0000
Subject: [PATCH] matlab plotPose3: don't draw covariance if it's empty

---
 matlab/plotPose3.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/matlab/plotPose3.m b/matlab/plotPose3.m
index d55b7323a..262d1dfc1 100644
--- a/matlab/plotPose3.m
+++ b/matlab/plotPose3.m
@@ -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);