diff --git a/matlab/+gtsam/plotFlyingResults.m b/matlab/+gtsam/plotFlyingResults.m
index 22b6a2de5..c214d948d 100644
--- a/matlab/+gtsam/plotFlyingResults.m
+++ b/matlab/+gtsam/plotFlyingResults.m
@@ -24,16 +24,17 @@ for i = 0:keys.size - 1
     P = marginals.marginalCovariance(key);
     
     h_result = gtsam.plotPose3(pose, P, 1);
+
 end
 
 %% plot point covariance
 
+
+
 if exist('h_result', 'var')
     delete(h_result);
 end
 
-
-
 if ~holdstate
     hold off
 end
diff --git a/matlab/+gtsam/points2DTrackStereo.m b/matlab/+gtsam/points2DTrackStereo.m
index 95f225ea5..3651bff6d 100644
--- a/matlab/+gtsam/points2DTrackStereo.m
+++ b/matlab/+gtsam/points2DTrackStereo.m
@@ -101,7 +101,7 @@ for i = 1:pointsNum
 end
 
 %% plot the result with covariance ellipses
-plotFlyingResults(pts2dTracksStereo.pts3d, pts2dTracksStereo.cov, initialiEstimate, marginals);
+plotFlyingResults(pts2dTracksStereo.pt3d, pts2dTracksStereo.cov, initialEstimate, marginals);
 
 %plot3DTrajectory(initialEstimate, '*', 1, 8, marginals);
 %view(3);
diff --git a/matlab/gtsam_examples/CameraFlyingExample.m b/matlab/gtsam_examples/CameraFlyingExample.m
index 08986f83c..99fe4ca80 100644
--- a/matlab/gtsam_examples/CameraFlyingExample.m
+++ b/matlab/gtsam_examples/CameraFlyingExample.m
@@ -26,7 +26,7 @@ options.cylinder.cylinderNum = 15; % pls be smaller than 20
 options.cylinder.radius = 3;  % pls be smaller than 5
 options.cylinder.height = 10;
 % point density on cylinder
-options.cylinder.pointDensity = 1;
+options.cylinder.pointDensity = 0.05;
 
 %% set up the camera
 %   parameters set according to the stereo camera:
@@ -162,8 +162,6 @@ else
     % use Stereo Camera
     [pts2dTracksStereo, estimateValuesStereo] = points2DTrackStereo(options.camera.stereoK, ...
         cameraPoses, options.camera.resolution, cylinders);
-    
-    plotFlyingResults(pts2dTracksStereo.pt3d, pts2dTracksStereo.cov, estimateValuesStereo, options, figID);
 end
 
 %% plot all the projected points