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;