3D poses

[Amjad Hussain]

Dear all, 

Can anybody tell me how to extract 3D poses using GTSAM?

In 2D I was using this: ''  

poses = utilities.extractPose2(result);

X(i,1) = poses(i,1);

Y(i,1) = poses(i,2); 

but when I am using Pose3, it involves two things: translation and rotation 

So how can I extract optimized X, Y, and Z poses??

Profound regards, 

Amjad