# Revision history [back]

hm, that's a bug. Could you please try to change the following lines in graph_manager.cpp (right after the #includes):

//typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> >  SlamBlockSolver;
typedef g2o::BlockSolver< g2o::BlockSolverTraits<6, 3> >  SlamBlockSolver;


to

typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> >  SlamBlockSolver;
//typedef g2o::BlockSolver< g2o::BlockSolverTraits<6, 3> >  SlamBlockSolver;


I haven't used the landmark optimization in a long time. The gains have turned out to be quite negligible. As it is therefore not regularly tested, you might run into more problems.