diff --git a/examples/vSLAMexample/Feature2D.h b/examples/vSLAMexample/Feature2D.h
index db48a1cfb..1f878d9d2 100644
--- a/examples/vSLAMexample/Feature2D.h
+++ b/examples/vSLAMexample/Feature2D.h
@@ -8,20 +8,20 @@ class Feature2D
 {
 public:
     gtsam::Point2 m_p;
-		int m_idCamera;						// id of the camera pose that makes this measurement
-		int m_idLandmark;       // id of the 3D landmark that it is associated with
+    int m_idCamera;            // id of the camera pose that makes this measurement
+    int m_idLandmark;       // id of the 3D landmark that it is associated with
 public:
-		Feature2D(int idCamera, int idLandmark, gtsam::Point2 p)
-						:m_idCamera(idCamera),
-						m_idLandmark(idLandmark),
-						m_p(p)
-		{};
+    Feature2D(int idCamera, int idLandmark, gtsam::Point2 p)
+            :m_idCamera(idCamera),
+            m_idLandmark(idLandmark),
+            m_p(p)
+    {};
 
     void print(const std::string& s = "") const
     {
         std::cout << s << std::endl;
-				std::cout << "Pose id: " << m_idCamera << " -- Landmark id: "  << m_idLandmark << std::endl;
-				m_p.print("\tMeasurement: ");
+        std::cout << "Pose id: " << m_idCamera << " -- Landmark id: "  << m_idLandmark << std::endl;
+        m_p.print("\tMeasurement: ");
     }
 };
 
diff --git a/examples/vSLAMexample/Makefile.am b/examples/vSLAMexample/Makefile.am
index 79c4c114b..0524ce704 100644
--- a/examples/vSLAMexample/Makefile.am
+++ b/examples/vSLAMexample/Makefile.am
@@ -11,9 +11,13 @@ sources =
 check_PROGRAMS =
 
 # Examples
-noinst_PROGRAMS = vSLAMexample
-vSLAMexample_includedir = .
-vSLAMexample_SOURCES = vSLAMexample.cpp Feature2D.cpp landmarkUtils.cpp
+noinst_PROGRAMS = vSFMexample
+vSFMexample_includedir = .
+vSFMexample_SOURCES = vSFMexample.cpp Feature2D.cpp vSLAMutils.cpp
+
+noinst_PROGRAMS += vISAMexample
+vISAMexample_includedir = .
+vISAMexample_SOURCES = vISAMexample.cpp Feature2D.cpp vSLAMutils.cpp
 #----------------------------------------------------------------------------------------------------
 # rules to build local programs
 #----------------------------------------------------------------------------------------------------
diff --git a/inference/ISAM-inl.h b/inference/ISAM-inl.h
index 601bd5ea7..6c69d8d93 100644
--- a/inference/ISAM-inl.h
+++ b/inference/ISAM-inl.h
@@ -15,6 +15,8 @@
  * @author  Michael Kaess
  */
 
+#pragma once
+
 #include <boost/foreach.hpp>
 #include <boost/assign/std/list.hpp> // for operator +=
 using namespace boost::assign;