diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index 50065b2dd..dbb744d3e 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -81,23 +81,9 @@ public:
     if (!cachedConstrainedKeyDimMap_.empty())
       return cachedConstrainedKeyDimMap_;
     // Collect key-dim map of all variables in the constraints
-    //TODO(Varun) seems like the templated function is causing the multiple symbols error on Windows
-    // cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
-    // KeyDimMap keysDim2 = collectKeyDim(inequalities);
-    // cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
-    cachedConstrainedKeyDimMap_.clear();
-    for (auto&& factor : equalities) {
-      if (!factor) continue;
-      for (Key key : factor->keys()) {
-        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
-      }
-    }
-    for (auto&& factor : inequalities) {
-      if (!factor) continue;
-      for (Key key : factor->keys()) {
-        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
-      }
-    }
+    cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
+    KeyDimMap keysDim2 = collectKeyDim(inequalities);
+    cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
     return cachedConstrainedKeyDimMap_;
   }
 
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index b022ce16f..189c501bb 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -252,15 +252,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
       nonuniqueKeys.push_back(body_P_cam_keys_.at(i));
     }
     // but we need to get the augumented hessian wrt the unique keys in key_
-    //TODO(Varun) SchurComplementAndRearrangeBlocks is causing the multiply defined symbol error
-    // SymmetricBlockMatrix augmentedHessianUniqueKeys =
-    //     Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
-    //                                                               DimPose>(
-    //         Fs, E, P, b, nonuniqueKeys, keys_);
+    SymmetricBlockMatrix augmentedHessianUniqueKeys =
+        Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
+                                                                  DimPose>(
+            Fs, E, P, b, nonuniqueKeys, keys_);
 
-    // return std::make_shared<RegularHessianFactor<DimPose>>(
-    //     keys_, augmentedHessianUniqueKeys);
-    return nullptr;
+    return std::make_shared<RegularHessianFactor<DimPose>>(
+        keys_, augmentedHessianUniqueKeys);
   }
 
   /**