diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp
index 49bf23024..98fa3d249 100644
--- a/timing/timeSFMBAL.cpp
+++ b/timing/timeSFMBAL.cpp
@@ -16,20 +16,20 @@
  * @date    June 6, 2015
  */
 
-#include <boost/foreach.hpp>
-#include <gtsam/base/timing.h>
+#include <gtsam/slam/dataset.h>
+#include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Point3.h>
-#include <gtsam/inference/FactorGraph.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/linear/NoiseModel.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/nonlinear/Values.h>
-#include <gtsam/slam/dataset.h>
-#include <gtsam/slam/GeneralSFMFactor.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/base/timing.h>
+
+#include <boost/foreach.hpp>
 #include <stddef.h>
 #include <stdexcept>
 #include <string>
@@ -39,18 +39,19 @@ using namespace gtsam;
 
 //#define TERNARY
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   typedef GeneralSFMFactor<PinholeCamera<Cal3Bundler>, Point3> sfmFactor;
   using symbol_shorthand::P;
 
+  // Load BAL file (default is tiny)
   string defaultFilename = findExampleDataFile("dubrovnik-3-7-pre");
   SfM_data db;
-  bool success = readBAL(argc>1 ? argv[1] : defaultFilename, db);
+  bool success = readBAL(argc > 1 ? argv[1] : defaultFilename, db);
   if (!success) throw runtime_error("Could not access file!");
 
+  // Build graph
   SharedNoiseModel unit2 = noiseModel::Unit::Create(2);
   NonlinearFactorGraph graph;
-
   for (size_t j = 0; j < db.number_tracks(); j++) {
     BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements)
       graph.push_back(sfmFactor(m.second, unit2, m.first, P(j)));
@@ -58,9 +59,18 @@ int main(int argc, char *argv[]) {
 
   Values initial = initialCamerasAndPointsEstimate(db);
 
-  LevenbergMarquardtOptimizer lm(graph, initial);
+  // Create Schur-complement ordering
+  vector<Key> pointKeys;
+  for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j));
+  Ordering schurOrdering = Ordering::colamdConstrainedFirst(graph, pointKeys, true);
 
+  // Optimize
+  LevenbergMarquardtParams params;
+  params.setOrdering(schurOrdering);
+  LevenbergMarquardtOptimizer lm(graph, initial, params);
   Values actual = lm.optimize();
+
+  tictoc_finishedIteration_();
   tictoc_print_();
 
   return 0;