diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1f2fc7535fcb75d24da687fe579617f7444ca03..ba3053cba627d89d788a11c216ce7b5b6d185993 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -221,16 +221,16 @@ SET(SRCS_YAML
 if(csm_FOUND)
   SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
       # include/laser/processor/processor_closeloop_icp.h
-      include/laser/processor/processor_odom_icp.h
-      include/laser/feature/feature_icp_align.h
+      #include/laser/processor/processor_odom_icp.h
+      #include/laser/feature/feature_icp_align.h
     )
   SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
       # src/processor/processor_closeloop_icp.cpp
-      src/processor/processor_odom_icp.cpp
-      src/feature/feature_icp_align.cpp
+      #src/processor/processor_odom_icp.cpp
+      #src/feature/feature_icp_align.cpp
     )
   SET(SRCS_YAML
-      src/yaml/processor_odom_ICP_yaml.cpp
+      #src/yaml/processor_odom_ICP_yaml.cpp
     )
 endif(csm_FOUND)
 #optional HDRS and SRCS
diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp
index 8c3fc0424f6d52825e0f83a1f129e2f34bdde8ad..7e2a059c4213424cdadf07ecffef278926f8552e 100644
--- a/src/processor/processor_tracker_feature_polyline_2D.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2D.cpp
@@ -1011,6 +1011,7 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
         if (!lmk_ptr->isClosed() && (lmk_ptr->getNDefinedPoints() >= 4 || lmk_ptr->getNPoints() >= 5))
             lmk_ptr->tryClose(params_tracker_feature_polyline_->class_position_error_th);
     }
+    WOLF_DEBUG("closing and classify done");
 
     // Try to merge landmarks
     while (!merge_candidates_list_.empty())
@@ -1049,8 +1050,10 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
                                               params_tracker_feature_polyline_->match_landmark_overlap_n_min,
                                               params_tracker_feature_polyline_->match_landmark_overlap_n_defined_min);
     }
+    WOLF_DEBUG("merging done");
 
     // Remove "wrong" landmarks
+    WOLF_DEBUG("remove 'wrong' landmarks...");
     LandmarkBasePtrList lmk_list = getProblem()->getMap()->getLandmarkList();
     for (auto lmk_it = lmk_list.begin(); lmk_it != lmk_list.end(); lmk_it++)
         if ((*lmk_it)->getType() == "POLYLINE 2D")
@@ -1065,7 +1068,7 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
                 }
         }
 
-    //WOLF_DEBUG("PTF ", getName(), ": ", "untracked_features_last_ has ", untracked_features_last_.size() , " features");
+    WOLF_DEBUG("PTF ", getName(), ": ", "untracked_features_last_ has ", untracked_features_last_.size() , " features");
     //WOLF_DEBUG_COND(last_ptr_!=nullptr,"PTF ", getName(), ": ", last_ptr_->getFeatureList().size(), " in last_ptr_)");
 }
 
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 69c717bf2f9945cd49f61dc6d345a6497f0c31b8..0da643209063d141b313db0d93530630e71adde6 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -17,8 +17,8 @@ wolf_add_gtest(gtest_landmark_polyline gtest_landmark_polyline.cpp)
 target_link_libraries(gtest_landmark_polyline ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 if(csm_FOUND)
-	wolf_add_gtest(gtest_processor_odom_icp gtest_processor_odom_icp.cpp)
-	target_link_libraries(gtest_processor_odom_icp ${PLUGIN_NAME} ${wolf_LIBRARY})
+#	wolf_add_gtest(gtest_processor_odom_icp gtest_processor_odom_icp.cpp)
+#	target_link_libraries(gtest_processor_odom_icp ${PLUGIN_NAME} ${wolf_LIBRARY})
 endif(csm_FOUND)
 
 wolf_add_gtest(gtest_polyline_2D gtest_polyline_2D.cpp)