32 lines
891 B
Matlab
32 lines
891 B
Matlab
function plotPose3(pose, P, axisLength)
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% plotPose3: show a Pose, possibly with covariance matrix
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if nargin<3,axisLength=0.1;end
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% get rotation and translation (center)
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gRp = pose.rotation().matrix(); % rotation from pose to global
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C = pose.translation().vector();
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if ~isempty(axisLength)
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% draw the camera axes
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xAxis = C+gRp(:,1)*axisLength;
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L = [C xAxis]';
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line(L(:,1),L(:,2),L(:,3),'Color','r');
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yAxis = C+gRp(:,2)*axisLength;
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L = [C yAxis]';
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line(L(:,1),L(:,2),L(:,3),'Color','g');
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zAxis = C+gRp(:,3)*axisLength;
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L = [C zAxis]';
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line(L(:,1),L(:,2),L(:,3),'Color','b');
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end
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% plot the covariance
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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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gtsam.covarianceEllipse3D(C,gPp);
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end
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end
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