diff --git a/examples/matlab/Pose3SLAMExample_circle.m b/examples/matlab/Pose3SLAMExample_circle.m
index d1676626c..1c8e481ee 100644
--- a/examples/matlab/Pose3SLAMExample_circle.m
+++ b/examples/matlab/Pose3SLAMExample_circle.m
@@ -39,11 +39,11 @@ initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1)));
 
 %% Plot Initial Estimate
 figure(1);clf
-plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); axis equal
+plot3(initial.xs(),initial.ys(),initial.zs(),'g-*');
 
 %% optimize
 result = fg.optimize(initial);
 
 %% Show Result
-hold on; plot3(result.xs(),result.ys(),result.zs(),'b-*')
+hold on; plot3DTrajectory(result,'b-*', true, 0.3); axis equal;
 result.print(sprintf('\nFinal result:\n'));
diff --git a/examples/matlab/plot3DTrajectory.m b/examples/matlab/plot3DTrajectory.m
index f2c1d8f2f..524b41d33 100644
--- a/examples/matlab/plot3DTrajectory.m
+++ b/examples/matlab/plot3DTrajectory.m
@@ -1,15 +1,17 @@
-function plot3DTrajectory(values,style,frames)
+function plot3DTrajectory(values,style,frames,scale)
 % plot3DTrajectory
 if nargin<3,frames=false;end
+if nargin<4,scale=0;end
 
 plot3(values.xs(),values.ys(),values.zs(),style); hold on
 if frames
+    N=values.size;
     for i=0:N-1
         pose = values.pose(i);
         t = pose.translation;
         R = pose.rotation.matrix;
-        quiver3(t.x,t.y,t.z,R(1,1),R(2,1),R(3,1),'r');
-        quiver3(t.x,t.y,t.z,R(1,2),R(2,2),R(3,2),'g');
-        quiver3(t.x,t.y,t.z,R(1,3),R(2,3),R(3,3),'b');
+        quiver3(t.x,t.y,t.z,R(1,1),R(2,1),R(3,1),scale,'r');
+        quiver3(t.x,t.y,t.z,R(1,2),R(2,2),R(3,2),scale,'g');
+        quiver3(t.x,t.y,t.z,R(1,3),R(2,3),R(3,3),scale,'b');
     end
 end
\ No newline at end of file