diff --git a/.gitignore b/.gitignore
index dc88af0b4496bafe08038782bd6fbd2a28902403..2e5e674704c29459650beb9667740661b78e88e9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,4 @@ src/examples/map_polyline_example_write.yaml
 src/CMakeCache.txt
 
 src/CMakeFiles/cmake.check_cache
+src/examples/map_apriltag_save.yaml
diff --git a/src/examples/test_map_yaml.cpp b/src/examples/test_map_yaml.cpp
index 049e3dbc09116c54827bd1cf49e05cadba512099..80273a3845d5a6368ba4b570b44e45f3fa1e1188 100644
--- a/src/examples/test_map_yaml.cpp
+++ b/src/examples/test_map_yaml.cpp
@@ -75,7 +75,7 @@ int main()
     std::string wolf_config     = wolf_root + "/src/examples";
     std::cout << "\nWolf directory for configuration files: " << wolf_config << std::endl;
 
-    ProblemPtr problem = Problem::create(FRM_PO_2D);
+    ProblemPtr problem = Problem::create("PO 2D");
     filename = wolf_config + "/map_polyline_example.yaml";
     std::cout << "Reading map from file: " << filename << std::endl;
     problem->loadMap(filename);
diff --git a/src/examples/test_yaml.cpp b/src/examples/test_yaml.cpp
index 2ca6eb55eca8c9d4bfddbd6a1b8c84ae5016999a..56a33fe1d29230364e8be5305612ca043eca770d 100644
--- a/src/examples/test_yaml.cpp
+++ b/src/examples/test_yaml.cpp
@@ -71,27 +71,27 @@ int main()
 
 
 
-    // Processor Image parameters
-
-    ProcessorParamsImage p;
-
-    Node params = YAML::LoadFile(wolf_root + "/src/examples/processor_image_feature.yaml");
-
-    if (params["processor type"])
-    {
-        Node as = params["active search"];
-        p.active_search.grid_width      = as["grid width"].as<unsigned int>();
-        p.active_search.grid_height     = as["grid height"].as<unsigned int>();
-        p.active_search.separation      = as["separation"].as<unsigned int>();
-
-        Node img = params["image"];
-        p.image.width                   = img["width"].as<unsigned int>();
-        p.image.height                  = img["height"].as<unsigned int>();
-
-        Node alg = params["algorithm"];
-        p.max_new_features            = alg["maximum new features"].as<unsigned int>();
-        p.min_features_for_keyframe   = alg["minimum features for new keyframe"].as<unsigned int>();
-    }
+//    // Processor Image parameters
+//
+//    ProcessorParamsImage p;
+//
+//    Node params = YAML::LoadFile(wolf_root + "/src/examples/processor_image_feature.yaml");
+//
+//    if (params["processor type"])
+//    {
+//        Node as = params["active search"];
+//        p.active_search.grid_width      = as["grid width"].as<unsigned int>();
+//        p.active_search.grid_height     = as["grid height"].as<unsigned int>();
+//        p.active_search.separation      = as["separation"].as<unsigned int>();
+//
+//        Node img = params["image"];
+//        p.image.width                   = img["width"].as<unsigned int>();
+//        p.image.height                  = img["height"].as<unsigned int>();
+//
+//        Node alg = params["algorithm"];
+//        p.max_new_features            = alg["maximum new features"].as<unsigned int>();
+//        p.min_features_for_keyframe   = alg["minimum features for new keyframe"].as<unsigned int>();
+//    }
 
 
     return 0;
diff --git a/src/landmark_AHP.h b/src/landmark_AHP.h
index ad55a07244797f24a937e324de69a4926da412b0..e8d695b19505f0d0335671e6c9a8f0f40d31901f 100644
--- a/src/landmark_AHP.h
+++ b/src/landmark_AHP.h
@@ -20,8 +20,8 @@ class LandmarkAHP : public LandmarkBase
 {
     protected:
         cv::Mat cv_descriptor_;
-        FrameBasePtr anchor_frame_; // TODO check pointer type
-        SensorBasePtr anchor_sensor_; // TODO check pointer type
+        FrameBasePtr anchor_frame_;
+        SensorBasePtr anchor_sensor_;
 
     public:
         LandmarkAHP(Eigen::Vector4s _position_homogeneous, FrameBasePtr _anchor_frame, SensorBasePtr _anchor_sensor, cv::Mat _2D_descriptor);
diff --git a/src/processor_tracker_feature_corner.cpp b/src/processor_tracker_feature_corner.cpp
index 3b0ac96a266126ed620796ec3e9acfe7b3a2658f..5876bdd2ba39e0427f0b86b61d33f23a7e736ede 100644
--- a/src/processor_tracker_feature_corner.cpp
+++ b/src/processor_tracker_feature_corner.cpp
@@ -176,7 +176,6 @@ void ProcessorTrackerFeatureCorner::extractCorners(CaptureLaser2DPtr _capture_la
         measurement.head(2) = corner.pt_.head(2);
         measurement(2) = corner.orientation_;
         measurement(3) = corner.aperture_;
-        // TODO: maybe in line object?
         Scalar L1 = corner.line_1_.length();
         Scalar L2 = corner.line_2_.length();
         Scalar cov_angle_line1 = 12 * corner.line_1_.error_
diff --git a/src/test/gtest_odom_2D.cpp b/src/test/gtest_odom_2D.cpp
index ef833a48a77679f658627edc3be1a7a68f972769..0ee5206e8c9e6e5a3bd06505b9de777b23a1bbd5 100644
--- a/src/test/gtest_odom_2D.cpp
+++ b/src/test/gtest_odom_2D.cpp
@@ -453,7 +453,7 @@ TEST(Odom2D, KF_callback)
 
     // check the split KF
     ASSERT_POSE2D_APPROX(keyframe_1->getState()                  , integrated_pose_vector[m_split], 1e-6);
-    ASSERT_MATRIX_APPROX(problem->getFrameCovariance(keyframe_1) , integrated_cov_vector [m_split], 1e-6); // FIXME test does not pass
+    ASSERT_MATRIX_APPROX(problem->getFrameCovariance(keyframe_1) , integrated_cov_vector [m_split], 1e-6);
 
     // check other KF in the future of the split KF
     ASSERT_POSE2D_APPROX(problem->getLastKeyFramePtr()->getState() , integrated_pose_vector[n_split], 1e-6);