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  [ 42%] Building CXX object CMakeFiles/rgbdslam.dir/src/landmark.o
  c++: internal compiler error: Killed (program cc1plus)
  Please submit a full bug report,
  with preprocessed source if appropriate.
  See <file:///usr/share/doc/gcc-4.6/README.Bugs>for instructions.

That is the problem. Sounds bad.