diff --git a/matlab/beijing_config.mat b/matlab/beijing_config.mat
new file mode 100644
index 000000000..27eecb7cb
Binary files /dev/null and b/matlab/beijing_config.mat differ
diff --git a/matlab/frank01.m b/matlab/frank01_CGD.m
similarity index 100%
rename from matlab/frank01.m
rename to matlab/frank01_CGD.m
diff --git a/matlab/frank02_ToroPose2Graph.m b/matlab/frank02_ToroPose2Graph.m
new file mode 100644
index 000000000..5704fad2c
--- /dev/null
+++ b/matlab/frank02_ToroPose2Graph.m
@@ -0,0 +1 @@
+% load the Toro 2D dataset and build pose graph
diff --git a/matlab/kai01_BejingPose2Graph.m b/matlab/kai01_BejingPose2Graph.m
index 8356a7b80..4dc2c24a3 100644
--- a/matlab/kai01_BejingPose2Graph.m
+++ b/matlab/kai01_BejingPose2Graph.m
@@ -1,7 +1,7 @@
 load beijing.mat;
 load beijing_angles.mat;
 load beijing_graph.mat;
-%load beijing_config.mat;
+load beijing_config.mat;
 
 cov = [ 0.25, 0, 0; 0, 0.25, 0; 0, 0, 0.01];
 
@@ -11,7 +11,7 @@ factors2 = Pose2Graph;
 ord2 = Ordering();
 
 [rows cols] = find(tree);
-for i=1:length(edge_order)
+for i=length(edge_order):-1:1
     if mod(i,500) == 0
         fprintf(1, 'processing edge %d\n', i);
     end
@@ -36,7 +36,7 @@ for i=1:length(edge_order)
 end
 ord2.unique();
 
-if 1
+if 0
     config=Pose2Config();
     n=size(points,1);
     for j=1:n
@@ -70,6 +70,12 @@ R = qr(A,0);
 figure(3)
 spy(R)
 
+% plot on map
+figure(7)
+gplot(tree,points)
+%gplot(tree,points)
+axis equal
+
 % show re-ordered R factor
 % P = colamd(A);
 % figure(4)
diff --git a/matlab/make_Pose2.m b/matlab/make_Pose2.m
deleted file mode 100644
index 57680068f..000000000
--- a/matlab/make_Pose2.m
+++ /dev/null
@@ -1,53 +0,0 @@
-% automatically generated by wrap on 2009-Dec-11
-echo on
-
-toolboxpath = '/Users/dellaert/toolbox/gtsam'
-addpath(toolboxpath);
-
-% cd(toolboxpath)
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam new_Pose2_.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam new_Pose2_P.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam new_Pose2_ddd.cpp
-% 
-% cd @Pose2
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam print.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam equals.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam x.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam y.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam theta.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam dim.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam exmap.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam vector.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam rotate.cpp
-
-cd(toolboxpath)
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam new_Pose2Config_.cpp
-
-cd @Pose2Config
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam get.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam insert.cpp
-% mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam print.cpp
-
-cd(toolboxpath)
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam new_Pose2Factor_ssPM.cpp
-
-cd @Pose2Factor
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam print.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam equals.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam error.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam size.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam linearize.cpp
-
-cd(toolboxpath)
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam new_Pose2Graph_.cpp
-
-cd @Pose2Graph
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam print.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam equals.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam linearize_.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam push_back.cpp
-mex -I/opt/local/include/ -I/Users/dellaert/include -I/Users/dellaert/include/gtsam -L/Users/dellaert/lib -lgtsam getOrdering_.cpp
-
-cd(toolboxpath)
-
-echo off