diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m
new file mode 100644
index 000000000..7ab135168
--- /dev/null
+++ b/matlab/examples/VisualISAMGenerateData.m
@@ -0,0 +1,50 @@
+VisualISAMGlobalVars
+sprintf('vData...')
+
+%% Generate simulated data
+points = {};
+if TRIANGLE % Create a triangle target, just 3 points on a plane
+    nPoints = 3;
+    r = 10;
+    for j=1:nPoints
+        theta = (j-1)*2*pi/nPoints;
+        points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]');
+    end
+else % 3D landmarks as vertices of a cube
+    nPoints = 8;
+    points = {gtsamPoint3([10 10 10]'),...
+        gtsamPoint3([-10 10 10]'),...
+        gtsamPoint3([-10 -10 10]'),...
+        gtsamPoint3([10 -10 10]'),...
+        gtsamPoint3([10 10 -10]'),...
+        gtsamPoint3([-10 10 -10]'),...
+        gtsamPoint3([-10 -10 -10]'),...
+        gtsamPoint3([10 -10 -10]')};
+end
+
+%% Create camera cameras on a circle around the triangle
+height = 10; r = 40;
+K = gtsamCal3_S2(500,500,0,640/2,480/2);
+cameras = {};
+for i=1:NCAMERAS
+    theta = (i-1)*2*pi/NCAMERAS;
+    t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
+    cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K);
+    if SHOW_IMAGES % show images
+        figure(2+i);clf;hold on
+        set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i));
+        for j=1:nPoints
+            zij = cameras{i}.project(points{j});
+            plot(zij.x,zij.y,'*');
+            axis([1 640 1 480]);
+        end
+    end
+end
+odometry = cameras{1}.pose.between(cameras{2}.pose);
+
+
+%% Set Noise parameters
+poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
+odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
+pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1);
+measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0);
\ No newline at end of file
diff --git a/matlab/examples/VisualISAMGlobalVars.m b/matlab/examples/VisualISAMGlobalVars.m
new file mode 100644
index 000000000..2438a9ea0
--- /dev/null
+++ b/matlab/examples/VisualISAMGlobalVars.m
@@ -0,0 +1,7 @@
+global TRIANGLE NCAMERAS SHOW_IMAGES 
+global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE 
+global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES 
+global SAVE_FIGURES SAVE_GRAPHS 
+global nPoints points K cameras odometry 
+global poseNoise pointNoise odometryNoise measurementNoise
+global frame_i isam newFactors initialEstimates result
diff --git a/matlab/examples/VisualISAMInitOptions.m b/matlab/examples/VisualISAMInitOptions.m
new file mode 100644
index 000000000..a9ef09bb5
--- /dev/null
+++ b/matlab/examples/VisualISAMInitOptions.m
@@ -0,0 +1,22 @@
+VisualISAMGlobalVars
+
+%% Data Options
+TRIANGLE = true;
+NCAMERAS = 20;
+SHOW_IMAGES = false;
+
+%% iSAM Options
+HARD_CONSTRAINT = false;
+POINT_PRIORS = false;
+BATCH_INIT = true;
+REORDER_INTERVAL=10;
+ALWAYS_RELINEARIZE = false;
+
+%% Display Options
+SAVE_GRAPH = false;
+PRINT_STATS = true;
+DRAW_INTERVAL = 4;
+CAMERA_INTERVAL = 1;
+DRAW_TRUE_POSES = false;
+SAVE_FIGURES = false;
+SAVE_GRAPHS = false;
\ No newline at end of file
diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m
new file mode 100644
index 000000000..ae48f3531
--- /dev/null
+++ b/matlab/examples/VisualISAMInitialize.m
@@ -0,0 +1,28 @@
+VisualISAMGlobalVars
+
+%% Initialize iSAM
+isam = visualSLAMISAM(REORDER_INTERVAL);
+newFactors = visualSLAMGraph;
+initialEstimates = visualSLAMValues;
+i1 = symbol('x',1);
+camera1 = cameras{1};
+pose1 = camera1.pose;
+if HARD_CONSTRAINT % add hard constraint
+    newFactors.addPoseConstraint(i1,pose1);
+else
+    newFactors.addPosePrior(i1,pose1, poseNoise);
+end
+initialEstimates.insertPose(i1,pose1);
+% Add visual measurement factors from first pose
+for j=1:nPoints
+    jj = symbol('l',j);
+    if POINT_PRIORS % add point priors
+        newFactors.addPointPrior(jj, points{j}, pointNoise);
+    end
+    zij = camera1.project(points{j});
+    newFactors.addMeasurement(zij, measurementNoise, i1, jj, K);
+    initialEstimates.insertPoint(jj, points{j});
+end
+
+frame_i = 1
+cla;
\ No newline at end of file
diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m
new file mode 100644
index 000000000..549c3ac37
--- /dev/null
+++ b/matlab/examples/VisualISAMPlot.m
@@ -0,0 +1,42 @@
+VisualISAMGlobalVars
+
+if (frame_i<2)
+    sprintf('Cannot plot the first frame')
+    return
+end
+
+%% Plot results
+tic
+%     h=figure(2);clf
+%     set(1,'NumberTitle','off','Name','Visual iSAM');
+cla;
+hold on;
+sprintf('Computing marginals and plotting. Please wait...')
+for j=1:size(points,2)
+    P = isam.marginalCovariance(symbol('l',j));
+    point_j = result.point(symbol('l',j));
+    plot3(point_j.x, point_j.y, point_j.z,'marker','o');
+    covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P);
+end
+for ii=1:CAMERA_INTERVAL:frame_i
+    P = isam.marginalCovariance(symbol('x',ii));
+    pose_ii = result.pose(symbol('x',ii));
+    plotPose3(pose_ii,P,10);
+    if DRAW_TRUE_POSES % show ground truth
+        plotPose3(cameras{ii}.pose,0.001*eye(6),10);
+    end
+end
+axis([-40 40 -40 40 -10 20]);axis equal
+view(3)
+colormap('hot')
+sprintf('Done!')
+
+%     figure(2);
+t=toc;
+if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end
+if SAVE_FIGURES
+    print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i));
+end
+if SAVE_GRAPHS
+    isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i));
+end
diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m
new file mode 100644
index 000000000..7c86e3ce1
--- /dev/null
+++ b/matlab/examples/VisualISAMStep.m
@@ -0,0 +1,46 @@
+VisualISAMGlobalVars
+
+%% Add odometry
+newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), odometry, odometryNoise);
+
+%% Add visual measurement factors
+for j=1:nPoints
+    zij = cameras{frame_i}.project(points{j});
+    newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), K);
+end
+
+%% Initial estimates for the new pose. Also initialize points while in the first frame.
+%TODO: this might be suboptimal since "result" is not the fully optimized result
+if (frame_i==2), prevPose = cameras{1}.pose;
+else, prevPose = result.pose(symbol('x',frame_i-1)); end
+initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(odometry));
+
+%% Update ISAM
+if BATCH_INIT & (frame_i==2) % Do a full optimize for first two poses
+    initialEstimates
+    fullyOptimized = newFactors.optimize(initialEstimates)
+    initialEstimates = fullyOptimized;
+end
+% figure(1);tic;
+isam.update(newFactors, initialEstimates);
+% t=toc; plot(frame_i,t,'r.'); tic
+result = isam.estimate();
+% t=toc; plot(frame_i,t,'g.');
+if ALWAYS_RELINEARIZE % re-linearize
+    isam.reorder_relinearize();
+end
+
+
+if SAVE_GRAPH
+    isam.saveGraph(sprintf('VisualiSAM.dot',frame_i));
+end
+if PRINT_STATS
+    isam.printStats();
+end
+if mod(frame_i,DRAW_INTERVAL)==0
+    VisualISAMPlot
+end
+
+%% Reset newFactors and initialEstimates to prepare for the next update
+newFactors = visualSLAMGraph;
+initialEstimates = visualSLAMValues;
\ No newline at end of file
diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui.fig
new file mode 100644
index 000000000..e01fc1214
Binary files /dev/null and b/matlab/examples/VisualISAM_gui.fig differ
diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m
new file mode 100644
index 000000000..baba95f79
--- /dev/null
+++ b/matlab/examples/VisualISAM_gui.m
@@ -0,0 +1,393 @@
+function varargout = VisualISAM_gui(varargin)
+% VISUALISAM_GUI MATLAB code for VisualISAM_gui.fig
+%      VISUALISAM_GUI, by itself, creates a new VISUALISAM_GUI or raises the existing
+%      singleton*.
+%
+%      H = VISUALISAM_GUI returns the handle to a new VISUALISAM_GUI or the handle to
+%      the existing singleton*.
+%
+%      VISUALISAM_GUI('CALLBACK',hObject,eventData,handles,...) calls the local
+%      function named CALLBACK in VISUALISAM_GUI.M with the given input arguments.
+%
+%      VISUALISAM_GUI('Property','Value',...) creates a new VISUALISAM_GUI or raises the
+%      existing singleton*.  Starting from the left, property value pairs are
+%      applied to the GUI before VisualISAM_gui_OpeningFcn gets called.  An
+%      unrecognized property name or invalid value makes property application
+%      stop.  All inputs are passed to VisualISAM_gui_OpeningFcn via varargin.
+%
+%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
+%      instance to run (singleton)".
+%
+% See also: GUIDE, GUIDATA, GUIHANDLES
+
+% Edit the above text to modify the response to help VisualISAM_gui
+
+% Last Modified by GUIDE v2.5 08-Jun-2012 16:03:16
+
+% Begin initialization code - DO NOT EDIT
+gui_Singleton = 1;
+gui_State = struct('gui_Name',       mfilename, ...
+                   'gui_Singleton',  gui_Singleton, ...
+                   'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ...
+                   'gui_OutputFcn',  @VisualISAM_gui_OutputFcn, ...
+                   'gui_LayoutFcn',  [] , ...
+                   'gui_Callback',   []);
+if nargin && ischar(varargin{1})
+    gui_State.gui_Callback = str2func(varargin{1});
+end
+
+if nargout
+    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
+else
+    gui_mainfcn(gui_State, varargin{:});
+end
+% End initialization code - DO NOT EDIT
+
+
+% --- Executes just before VisualISAM_gui is made visible.
+function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin)
+% This function has no output args, see OutputFcn.
+% hObject    handle to figure
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+% varargin   command line arguments to VisualISAM_gui (see VARARGIN)
+
+% Choose default command line output for VisualISAM_gui
+VisualISAMGlobalVars
+VisualISAMInitOptions
+VisualISAMGenerateData
+
+handles.output = hObject;
+
+% Update handles structure
+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, eventdata, handles) 
+% varargout  cell array for returning output args (see VARARGOUT);
+% hObject    handle to figure
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Get default command line output from handles structure
+varargout{1} = handles.output;
+
+% --- Executes on button press in intializeButton.
+function intializeButton_Callback(hObject, eventdata, handles)
+% hObject    handle to intializeButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    sprintf('init button')
+    VisualISAMGlobalVars
+    DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) ;
+    NCAMERAS = str2num(get(handles.numCamEdit,'String')) ;
+    VisualISAMGenerateData
+    VisualISAMInitialize
+    
+% --- Executes on button press in stepButton.
+function stepButton_Callback(hObject, eventdata, handles)
+% hObject    handle to stepButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    VisualISAMGlobalVars
+    if (frame_i<NCAMERAS)
+        frame_i = frame_i+1;
+        sprintf('Frame %d:', frame_i)
+        VisualISAMStep
+    end
+
+% --- Executes on selection change in popupmenu1.
+function popupmenu1_Callback(hObject, eventdata, handles)
+% hObject    handle to popupmenu1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array
+%        contents{get(hObject,'Value')} returns selected item from popupmenu1
+    global TRIANGLE
+    str = cellstr(get(hObject,'String'));
+    sel = get(hObject,'Value');
+    switch str{sel}
+        case 'triangle'
+            TRIANGLE = true
+        case 'cube'
+            TRIANGLE = false
+    end
+    VisualISAMGenerateData
+    VisualISAMInitialize
+
+% --- Executes during object creation, after setting all properties.
+function popupmenu1_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to popupmenu1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    empty - handles not created until after all CreateFcns called
+
+% Hint: popupmenu 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 backButton.
+function backButton_Callback(hObject, eventdata, handles)
+% hObject    handle to backButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    sprintf('Not yet implemented')
+
+% --- Executes on button press in runButton.
+function runButton_Callback(hObject, eventdata, handles)
+% hObject    handle to runButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    sprintf('Not yet implemented')
+
+% --- Executes on button press in stopButton.
+function stopButton_Callback(hObject, eventdata, handles)
+% hObject    handle to stopButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    sprintf('Not yet implemented')
+
+
+% --- Executes on button press in plotButton.
+function plotButton_Callback(hObject, eventdata, handles)
+% hObject    handle to plotButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    VisualISAMPlot;
+
+
+function drawInterval_Callback(hObject, eventdata, handles)
+% hObject    handle to drawInterval (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of drawInterval as text
+%        str2double(get(hObject,'String')) returns contents of drawInterval as a double
+    VisualISAMGlobalVars
+    DRAW_INTERVAL = str2num(get(hObject,'String')) ;
+
+% --- Executes during object creation, after setting all properties.
+function drawInterval_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to drawInterval (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% 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, eventdata, handles)
+% hObject    handle to numCamEdit (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of numCamEdit as text
+%        str2double(get(hObject,'String')) returns contents of numCamEdit as a double
+    VisualISAMGlobalVars
+	NCAMERAS = str2num(get(hObject,'String')) ;
+    VisualISAMGenerateData
+    VisualISAMInitialize
+
+% --- Executes during object creation, after setting all properties.
+function numCamEdit_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to numCamEdit (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% 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 edit5_Callback(hObject, eventdata, handles)
+% hObject    handle to edit5 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of edit5 as text
+%        str2double(get(hObject,'String')) returns contents of edit5 as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function edit5_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to edit5 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% 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 edit6_Callback(hObject, eventdata, handles)
+% hObject    handle to edit6 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of edit6 as text
+%        str2double(get(hObject,'String')) returns contents of edit6 as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function edit6_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to edit6 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% 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 button press in hardConstraintCB.
+function hardConstraintCB_Callback(hObject, eventdata, handles)
+% hObject    handle to hardConstraintCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of hardConstraintCB
+    VisualISAMGlobalVars
+    HARD_CONSTRAINT = get(hObject, 'Value')
+
+% --- Executes on button press in pointPriorCB.
+function pointPriorCB_Callback(hObject, eventdata, handles)
+% hObject    handle to pointPriorCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of pointPriorCB
+
+
+% --- Executes on button press in batchInitCB.
+function batchInitCB_Callback(hObject, eventdata, handles)
+% hObject    handle to batchInitCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of batchInitCB
+
+
+% --- Executes on button press in alwaysRelinearizeCB.
+function alwaysRelinearizeCB_Callback(hObject, eventdata, handles)
+% hObject    handle to alwaysRelinearizeCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of alwaysRelinearizeCB
+
+
+
+function edit11_Callback(hObject, eventdata, handles)
+% hObject    handle to edit11 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of edit11 as text
+%        str2double(get(hObject,'String')) returns contents of edit11 as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function edit11_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to edit11 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% 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 cameraIntervalEdit_Callback(hObject, eventdata, handles)
+% hObject    handle to cameraIntervalEdit (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of cameraIntervalEdit as text
+%        str2double(get(hObject,'String')) returns contents of cameraIntervalEdit as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function cameraIntervalEdit_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to cameraIntervalEdit (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% 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 button press in saveGraphCB.
+function saveGraphCB_Callback(hObject, eventdata, handles)
+% hObject    handle to saveGraphCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of saveGraphCB
+
+
+% --- Executes on button press in printStatsCB.
+function printStatsCB_Callback(hObject, eventdata, handles)
+% hObject    handle to printStatsCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of printStatsCB
+
+
+% --- Executes on button press in drawTruePosesCB.
+function drawTruePosesCB_Callback(hObject, eventdata, handles)
+% hObject    handle to drawTruePosesCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of drawTruePosesCB
+
+
+% --- Executes on button press in saveFiguresCB.
+function saveFiguresCB_Callback(hObject, eventdata, handles)
+% hObject    handle to saveFiguresCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of saveFiguresCB
+
+
+% --- Executes on button press in saveGraphsCB.
+function saveGraphsCB_Callback(hObject, eventdata, handles)
+% hObject    handle to saveGraphsCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of saveGraphsCB
+
+
+% --- Executes on button press in showImagesCB.
+function showImagesCB_Callback(hObject, eventdata, handles)
+% hObject    handle to showImagesCB (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of showImagesCB