diff --git a/CMakeLists.txt b/CMakeLists.txt
index e4c255fa3d045eef3b0c0bccaa8aabc9be0ef3be..6e1767a121a281aa33b793fbc2343343862d75d5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -602,7 +602,6 @@ include/base/processor/processor_tracker_landmark_corner.h
 include/base/processor/processor_tracker_landmark_polyline.h
         )
     SET(SRCS ${SRCS}
-# examples/test_capture_laser_2D.cpp
 src/sensor/sensor_laser_2D.cpp
 src/processor/processor_tracker_feature.cpp
 src/processor/processor_tracker_feature_corner.cpp
@@ -629,29 +628,29 @@ IF (vision_utils_FOUND)
     SET(HDRS ${HDRS}
 include/base/capture/capture_image.h
 include/base/feature/feature_point_image.h
-include/base/landmark/landmark_AHP.h
-include/base/processor/processor_params_image.h
-include/base/processor/processor_tracker_feature_image.h
-include/base/processor/processor_tracker_landmark_image.h
         )
     SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
 include/base/processor/processor_tracker_feature_trifocal.h
+include/base/processor/processor_params_image.h
+include/base/processor/processor_tracker_feature_image.h
+include/base/processor/processor_tracker_landmark_image.h
     )
   SET(HDRS_LANDMARK ${HDRS_LANDMARK}
 include/base/landmark/landmark_point_3D.h
+include/base/landmark/landmark_AHP.h
     )
     SET(SRCS ${SRCS}
 src/capture/capture_image.cpp
 src/feature/feature_point_image.cpp
-src/landmark/landmark_AHP.cpp
-src/processor/processor_tracker_feature_image.cpp
-# examples/test_processor_tracker_landmark_image.cpp
         )
     SET(SRCS_LANDMARK ${SRCS_LANDMARK}
 src/landmark/landmark_point_3D.cpp
+src/landmark/landmark_AHP.cpp
     )
     SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
 src/processor/processor_tracker_feature_trifocal.cpp
+src/processor/processor_tracker_feature_image.cpp
+src/processor/processor_tracker_landmark_image.cpp
     )
 ENDIF(vision_utils_FOUND)
 
diff --git a/include/base/constraint/constraint_AHP.h b/include/base/constraint/constraint_AHP.h
index 340acc9c3d30c90ba1a74c1e06be6b880bcab08a..a0ab7db1fa497ac7f9a9f87db97ecb128650c306 100644
--- a/include/base/constraint/constraint_AHP.h
+++ b/include/base/constraint/constraint_AHP.h
@@ -68,6 +68,7 @@ inline ConstraintAHP::ConstraintAHP(const FeatureBasePtr&   _ftr_ptr,
         ConstraintAutodiff<ConstraintAHP, 2, 3, 4, 3, 4, 4>("AHP",
                                                             _landmark_ptr->getAnchorFrame(),
                                                             nullptr,
+                                                            nullptr,
                                                             _landmark_ptr,
                                                             _processor_ptr,
                                                             _apply_loss_function,
diff --git a/src/processor/processor_tracker_landmark_image.cpp b/src/processor/processor_tracker_landmark_image.cpp
index 04bba415fcb6331473d8c33211c58f9e7cff4429..b055f1353a95302d17f11824744e6c0df482a7db 100644
--- a/src/processor/processor_tracker_landmark_image.cpp
+++ b/src/processor/processor_tracker_landmark_image.cpp
@@ -501,7 +501,7 @@ ProcessorBasePtr ProcessorTrackerLandmarkImage::create(const std::string& _uniqu
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "processor_factory.h"
+#include "base/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("IMAGE LANDMARK", ProcessorTrackerLandmarkImage)
 } // namespace wolf