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