diff --git a/odom_estimator/CMakeLists.txt b/odom_estimator/CMakeLists.txt
index 9f634d6..6843160 100644
--- a/odom_estimator/CMakeLists.txt
+++ b/odom_estimator/CMakeLists.txt
@@ -36,7 +36,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp pluginlib sensor_msgs eigen_conve
 #uncomment if you have defined services
 #rosbuild_gensrv()
 
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 include_directories(${Eigen_INCLUDE_DIRS})
 ## Generate added messages and services with any dependencies listed here
 add_message_files(
@@ -69,18 +69,18 @@ add_library(odom_estimator_nodelet src/nodelet.cpp)
 target_link_libraries(odom_estimator_nodelet ${catkin_LIBRARIES})
 add_dependencies(odom_estimator_nodelet ${catkin_EXPORTED_TARGETS})
 add_dependencies(odom_estimator_nodelet ${PROJECT_NAME}_generate_messages_cpp)
-set_target_properties(odom_estimator_nodelet PROPERTIES COMPILE_FLAGS -std=c++0x)
+set_target_properties(odom_estimator_nodelet PROPERTIES COMPILE_FLAGS "-O3 -std=c++0x")
 #target_link_libraries(${PROJECT_NAME} another_library)
 #rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)
 add_executable(test_unscented_transform src/test_unscented_transform.cpp)
 target_link_libraries(test_unscented_transform ${catkin_LIBRARIES})
 add_dependencies(test_unscented_transform ${catkin_EXPORTED_TARGETS})
-set_target_properties(test_unscented_transform PROPERTIES COMPILE_FLAGS -std=c++0x)
+set_target_properties(test_unscented_transform PROPERTIES COMPILE_FLAGS  "-O3 -std=c++0x")
 add_executable(test_mag src/test_mag.cpp)
 target_link_libraries(test_mag ${catkin_LIBRARIES})
 add_dependencies(test_mag ${catkin_EXPORTED_TARGETS})
-set_target_properties(test_mag PROPERTIES COMPILE_FLAGS -std=c++0x)
+set_target_properties(test_mag PROPERTIES COMPILE_FLAGS "-O3 -std=c++0x")
 #target_link_libraries(example ${PROJECT_NAME})
 
 install(PROGRAMS scripts/test DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/odometry_utils/CMakeLists.txt b/odometry_utils/CMakeLists.txt
index 7694b00..de52b3b 100644
--- a/odometry_utils/CMakeLists.txt
+++ b/odometry_utils/CMakeLists.txt
@@ -56,10 +56,11 @@ include_directories( ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
 add_library(transform_odometry src/transform_odometry.cpp)
 target_link_libraries(transform_odometry ${catkin_LIBRARIES})
 add_dependencies(transform_odometry ${catkin_EXPORTED_TARGETS})
-set_target_properties(transform_odometry PROPERTIES COMPILE_FLAGS -std=c++0x)
+set_target_properties(transform_odometry PROPERTIES COMPILE_FLAGS "-O3 -std=c++0x")
 add_library(odometry_to_tf src/odometry_to_tf.cpp)
 target_link_libraries(odometry_to_tf ${catkin_LIBRARIES})
 add_dependencies(odometry_to_tf ${catkin_EXPORTED_TARGETS})
+set_target_properties(odometry_to_tf PROPERTIES COMPILE_FLAGS "-O3 -std=c++0x")
 #target_link_libraries(${PROJECT_NAME} another_library)
 #rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)