diff --git a/examples/vSLAMexample/vSLAMexample.cpp b/examples/vSLAMexample/vSLAMexample.cpp
index f158a9566..ad0f78106 100644
--- a/examples/vSLAMexample/vSLAMexample.cpp
+++ b/examples/vSLAMexample/vSLAMexample.cpp
@@ -24,7 +24,6 @@ using namespace std;
 using namespace gtsam;
 using namespace gtsam::visualSLAM;
 using namespace boost;
-typedef NonlinearOptimizer<Graph,Values> Optimizer;
 
 /* ************************************************************************* */
 #define CALIB_FILE      "Data/calib.txt"
diff --git a/slam/visualSLAM.h b/slam/visualSLAM.h
index 3413eb88c..5c8a2773d 100644
--- a/slam/visualSLAM.h
+++ b/slam/visualSLAM.h
@@ -19,14 +19,13 @@
 #pragma once
 
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Point3.h>
-#include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/SimpleCamera.h>
 #include <gtsam/nonlinear/Key.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/slam/PriorFactor.h>
 
 namespace gtsam { namespace visualSLAM {
@@ -199,4 +198,7 @@ namespace gtsam { namespace visualSLAM {
 
 	}; // Graph
 
+	// Optimizer
+	typedef NonlinearOptimizer<Graph, Values> Optimizer;
+
 } } // namespaces