diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp
index 28ef3943c7e55a2b2a8779a4b42d24b60df0a4ef..fa21c6bbf877c6455f6ece811b043fcbb4cf2275 100644
--- a/src/ceres_wrapper/solver_ceres.cpp
+++ b/src/ceres_wrapper/solver_ceres.cpp
@@ -558,7 +558,7 @@ const Eigen::SparseMatrixd SolverCeres::computeHessian() const
             StateBlockPtr sb = fac_ptr->getStateBlockPtrVector()[i];
             if (!sb->isFixed())
             {
-                assert(state_blocks_local_param_.count(sb) != 0 && "factor involving a state block not added");
+                assert(state_blocks_.count(sb) != 0 && "factor involving a state block not added");
                 assert((A.cols() >= sb->getLocalSize() + jacobians[i].cols() - 1) && "bad A number of cols");
 
                 // insert since A_block_row has just been created so it's empty for sure