diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m
index a3a89404f..626b3a944 100644
--- a/matlab/examples/VisualISAMDemo.m
+++ b/matlab/examples/VisualISAMDemo.m
@@ -1,2 +1,2 @@
-VisualISAMInitOptions
+VisualISAMGlobalVars
 VisualISAM_gui
\ No newline at end of file
diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m
index fd87c5434..03222f3cf 100644
--- a/matlab/examples/VisualISAMGenerateData.m
+++ b/matlab/examples/VisualISAMGenerateData.m
@@ -25,6 +25,7 @@ end
 height = 10; r = 40;
 K = gtsamCal3_S2(500,500,0,640/2,480/2);
 cameras = {};
+gui = gcf;
 for i=1:NCAMERAS
     theta = (i-1)*2*pi/NCAMERAS;
     t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
@@ -39,6 +40,7 @@ for i=1:NCAMERAS
         end
     end
 end
+figure(gui);
 odometry = cameras{1}.pose.between(cameras{2}.pose);
 
 
diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui.fig
index 07d1b793d..748b72261 100644
Binary files a/matlab/examples/VisualISAM_gui.fig and b/matlab/examples/VisualISAM_gui.fig differ
diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m
index 015c7ef6d..d13e45e3f 100644
--- a/matlab/examples/VisualISAM_gui.m
+++ b/matlab/examples/VisualISAM_gui.m
@@ -22,7 +22,7 @@ function varargout = VisualISAM_gui(varargin)
 
 % Edit the above text to modify the response to help VisualISAM_gui
 
-% Last Modified by GUIDE v2.5 08-Jun-2012 23:53:47
+% Last Modified by GUIDE v2.5 09-Jun-2012 00:56:47
 
 % Begin initialization code - DO NOT EDIT
 gui_Singleton = 1;
@@ -50,7 +50,6 @@ function VisualISAM_gui_OpeningFcn(hObject, ~, handles, varargin)
 % varargin   command line arguments to VisualISAM_gui (see VARARGIN)
 
 % Choose default command line output for VisualISAM_gui
-initOptions(handles)
 handles.output = hObject;
 
 % Update handles structure
@@ -59,6 +58,16 @@ guidata(hObject, handles);
 % UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME)
 % uiwait(handles.figure1);
 
+% --- Outputs from this function are returned to the command line.
+function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles) 
+% varargout  cell array for returning output args (see VARARGOUT);
+% Get default command line output from handles structure
+varargout{1} = handles.output;
+
+
+%----------------------------------------------------------
+% Convenient functions
+%----------------------------------------------------------
 function showFramei(hObject, handles)
     VisualISAMGlobalVars
     set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i));
@@ -82,21 +91,19 @@ function triangle = chooseDataset(handles)
     
 function initOptions(handles)
     VisualISAMGlobalVars
-    %% Setting data options
+    % Setting data options
     TRIANGLE = chooseDataset(handles)
     NCAMERAS = str2num(get(handles.numCamEdit,'String')) 
     SHOW_IMAGES = get(handles.showImagesCB,'Value')
 
-    %% iSAM Options
+    % iSAM Options
     HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value')
     POINT_PRIORS = get(handles.pointPriorsCB,'Value')
-    set(handles.batchInitCB,'Value',1);
-    drawnow
     BATCH_INIT = get(handles.batchInitCB,'Value')
     REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String')) 
     ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value')
 
-    %% Display Options
+    % Display Options
     SAVE_GRAPH = get(handles.saveGraphCB,'Value')
     PRINT_STATS = get(handles.printStatsCB,'Value')
     DRAW_INTERVAL = str2num(get(handles.drawInterval,'String'))
@@ -104,44 +111,11 @@ function initOptions(handles)
     DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value')
     SAVE_FIGURES = get(handles.saveFiguresCB,'Value')
     SAVE_GRAPHS = get(handles.saveGraphsCB,'Value')
-
-% --- Outputs from this function are returned to the command line.
-function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles) 
-% varargout  cell array for returning output args (see VARARGOUT);
-% Get default command line output from handles structure
-varargout{1} = handles.output;
-
-% --- Executes on button press in intializeButton.
-function intializeButton_Callback(hObject, ~, handles)
-
-    VisualISAMGlobalVars
-    initOptions(handles)
-    VisualISAMGenerateData
-    VisualISAMInitialize
-    VisualISAMPlot
-    showFramei(hObject, handles)
     
-    
-% --- Executes on button press in stepButton.
-function stepButton_Callback(hObject, ~, handles)
 
-    VisualISAMGlobalVars
-    if (frame_i<NCAMERAS)
-        frame_i = frame_i+1;
-        showFramei(hObject, handles)
-        VisualISAMStep
-        if mod(frame_i,DRAW_INTERVAL)==0
-            showWaiting(handles, 'Computing marginals...');
-            VisualISAMPlot
-            showWaiting(handles, '');
-        end
-    end
-
-% --- Executes on selection change in dataset.
-function dataset_Callback(hObject, ~, handles)
-% Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array
-%        contents{get(hObject,'Value')} returns selected item from dataset
-    
+%----------------------------------------------------------
+% Callback functions for GUI elements
+%----------------------------------------------------------
 
 % --- Executes during object creation, after setting all properties.
 function dataset_CreateFcn(hObject, ~, handles)
@@ -152,79 +126,19 @@ if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgr
     set(hObject,'BackgroundColor','white');
 end
 
-
-% --- Executes on button press in runButton.
-function runButton_Callback(hObject, ~, handles)
-    VisualISAMGlobalVars
-    while (frame_i<NCAMERAS)
-        frame_i = frame_i+1;
-        showFramei(hObject, handles)
-        VisualISAMStep
-        if mod(frame_i,DRAW_INTERVAL)==0
-            showWaiting(handles, 'Computing marginals...');
-            VisualISAMPlot
-            showWaiting(handles, '');
-        end
-    end
-
-% --- Executes on button press in plotButton.
-function plotButton_Callback(hObject, ~, handles)
-    VisualISAMPlot;
-
-
-% --- Executes during object creation, after setting all properties.
-function drawInterval_CreateFcn(hObject, ~, handles)
-% handles    empty - handles not created until after all CreateFcns called
-% Hint: edit controls usually have a white background on Windows.
-%       See ISPC and COMPUTER.
-if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
-    set(hObject,'BackgroundColor','white');
-end
-
+% --- Executes on selection change in dataset.
+function dataset_Callback(hObject, ~, handles)
+% Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array
+%        contents{get(hObject,'Value')} returns selected item from dataset
+    
 
 % --- Executes during object creation, after setting all properties.
 function numCamEdit_CreateFcn(hObject, ~, handles)
-% handles    empty - handles not created until after all CreateFcns called
 % Hint: edit controls usually have a white background on Windows.
-%       See ISPC and COMPUTER.
 if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
     set(hObject,'BackgroundColor','white');
 end
 
-
-% --- Executes during object creation, after setting all properties.
-function reorderIntervalText_CreateFcn(hObject, ~, handles)
-% handles    empty - handles not created until after all CreateFcns called
-% Hint: edit controls usually have a white background on Windows.
-%       See ISPC and COMPUTER.
-if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
-    set(hObject,'BackgroundColor','white');
-end
-
-
-% --- Executes during object creation, after setting all properties.
-function cameraIntervalEdit_CreateFcn(hObject, ~, handles)
-% hObject    handle to cameraIntervalEdit (see GCBO)
-
-% handles    empty - handles not created until after all CreateFcns called
-
-% Hint: edit controls usually have a white background on Windows.
-%       See ISPC and COMPUTER.
-if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
-    set(hObject,'BackgroundColor','white');
-end
-
-
-% --- Executes during object creation, after setting all properties.
-function reorderIntervalEdit_CreateFcn(hObject, ~, handles)
-% handles    empty - handles not created until after all CreateFcns called
-% Hint: edit controls usually have a white background on Windows.
-%       See ISPC and COMPUTER.
-if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
-    set(hObject,'BackgroundColor','white');
-end
-
-
 function numCamEdit_Callback(hObject, ~, handles)
 % Hints: get(hObject,'String') returns contents of numCamEdit as text
 %        str2double(get(hObject,'String')) returns contents of numCamEdit as a double
@@ -245,16 +159,43 @@ function pointPriorsCB_Callback(hObject, ~, handles)
 % Hint: get(hObject,'Value') returns toggle state of pointPriorsCB
 
 
+% --- Executes during object creation, after setting all properties.
+function batchInitCB_CreateFcn(hObject, eventdata, handles)
+    set(hObject,'Value',1);
+    
 % --- Executes on button press in batchInitCB.
 function batchInitCB_Callback(hObject, ~, handles)
 % Hint: get(hObject,'Value') returns toggle state of batchInitCB
 
-
+    
 % --- Executes on button press in alwaysRelinearizeCB.
 function alwaysRelinearizeCB_Callback(hObject, ~, handles)
 % Hint: get(hObject,'Value') returns toggle state of alwaysRelinearizeCB
 
 
+% --- Executes during object creation, after setting all properties.
+function reorderIntervalText_CreateFcn(hObject, ~, handles)
+% Hint: edit controls usually have a white background on Windows.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
+
+% --- Executes during object creation, after setting all properties.
+function reorderIntervalEdit_CreateFcn(hObject, ~, handles)
+% Hint: edit controls usually have a white background on Windows.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
+
+% --- Executes during object creation, after setting all properties.
+function drawInterval_CreateFcn(hObject, ~, handles)
+% Hint: edit controls usually have a white background on Windows.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
 
 function drawInterval_Callback(hObject, ~, handles)
 % Hints: get(hObject,'String') returns contents of drawInterval as text
@@ -266,6 +207,15 @@ function cameraIntervalEdit_Callback(hObject, ~, handles)
 %        str2double(get(hObject,'String')) returns contents of cameraIntervalEdit as a double
 
 
+% --- Executes during object creation, after setting all properties.
+function cameraIntervalEdit_CreateFcn(hObject, ~, handles)
+% Hint: edit controls usually have a white background on Windows.
+%       See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
+
 % --- Executes on button press in saveGraphCB.
 function saveGraphCB_Callback(hObject, ~, handles)
 % Hint: get(hObject,'Value') returns toggle state of saveGraphCB
@@ -289,3 +239,54 @@ function saveFiguresCB_Callback(hObject, ~, handles)
 % --- Executes on button press in saveGraphsCB.
 function saveGraphsCB_Callback(hObject, ~, handles)
 % Hint: get(hObject,'Value') returns toggle state of saveGraphsCB
+
+% --- Executes on button press in intializeButton.
+function intializeButton_Callback(hObject, ~, handles)
+    VisualISAMGlobalVars
+    initOptions(handles)
+    VisualISAMGenerateData
+    VisualISAMInitialize
+    VisualISAMPlot
+    showFramei(hObject, handles)
+    
+    
+% --- Executes on button press in runButton.
+function runButton_Callback(hObject, ~, handles)
+    VisualISAMGlobalVars
+    while (frame_i<NCAMERAS)
+        frame_i = frame_i+1;
+        showFramei(hObject, handles)
+        VisualISAMStep
+        if mod(frame_i,DRAW_INTERVAL)==0
+            showWaiting(handles, 'Computing marginals...');
+            VisualISAMPlot
+            showWaiting(handles, '');
+        end
+    end
+    
+    
+% --- Executes on button press in stepButton.
+function stepButton_Callback(hObject, ~, handles)
+    VisualISAMGlobalVars
+    if (frame_i<NCAMERAS)
+        frame_i = frame_i+1;
+        showFramei(hObject, handles)
+        VisualISAMStep
+        if mod(frame_i,DRAW_INTERVAL)==0
+            showWaiting(handles, 'Computing marginals...');
+            VisualISAMPlot
+            showWaiting(handles, '');
+        end
+    end
+
+% --- Executes on button press in plotButton.
+function plotButton_Callback(hObject, ~, handles)
+    showWaiting(handles, 'Computing marginals...');
+    VisualISAMPlot;
+    showWaiting(handles, '');
+
+
+
+
+
+