diff --git a/CMakeLists.txt b/CMakeLists.txt
index 88c9fea397911a5317573b7376ac4e3c9cdeec03..6a8ad1eab8d460fd4c256b2f48b0bed9106b361e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -175,26 +175,24 @@ if (falkolib_FOUND)
   SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
     include/laser/processor/processor_loop_closure_falko.h
     )
-    # falko & CSM
-    if (csm_FOUND)
-      SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
-        include/laser/processor/processor_loop_closure_falko_icp.h
-        )
-      SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
-        src/processor/processor_loop_closure_falko_icp.cpp
-        )
-
-    endif()
+  SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
+    src/processor/processor_loop_closure_falko.cpp
+    )
   SET(HDRS_FEATURE ${HDRS_FEATURE}
     include/laser/feature/feature_scene_falko.h
     )
   SET(SRCS_FEATURE ${SRCS_FEATURE}
     src/feature/feature_scene_falko.cpp
     )
-
-  SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
-    src/processor/processor_loop_closure_falko.cpp
+  # falko & CSM
+  if (csm_FOUND)
+    SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
+    include/laser/processor/processor_loop_closure_falko_icp.h
+    )
+    SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
+    src/processor/processor_loop_closure_falko_icp.cpp
     )
+  endif()
 endif()
 
 # CSM