function h3d_display_log(log)

	figure; hold on;
	
	colors = {'k.','r.','g.','b.','m.'};

	for k=1:numel(log)

		s = h3d_scan_convert_points(log{k});

		% orientation
		if iscell(s.true_pose)
			R = rot_axis_angle(s.true_pose{1}{1},s.true_pose{1}{2})
			T = s.true_pose{2};
		else
			R = eye(3); 
			T = [0;0;0];
		end
		

		color =  colors{1 + mod(k-1, numel(colors))};
	
		p = display_cloud(s.points,R,T,color);
		
		axis('equal');
		pause(0.1);
	end

	axis('equal');

	xlabel('x');
	ylabel('y');
	zlabel('z');



function p=display_cloud(points, R, T, color)
	p=plot3points(R*points + repmat(T,1,size(points,2)),color);
	set(p,'MarkerSize',0.5);