diff --git a/cmake/FindMKL.cmake b/cmake/FindMKL.cmake
index 8fb3be25d..cbe46a908 100644
--- a/cmake/FindMKL.cmake
+++ b/cmake/FindMKL.cmake
@@ -83,10 +83,20 @@ FIND_PATH(MKL_FFTW_INCLUDE_DIR
   NO_DEFAULT_PATH
 )
 
-IF(WIN32)
+IF(WIN32 AND MKL_ROOT_DIR)
         SET(MKL_LIB_SEARCHPATH $ENV{ICC_LIB_DIR} $ENV{MKL_LIB_DIR} "${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}" "${MKL_ROOT_DIR}/../compiler" "${MKL_ROOT_DIR}/../compiler/lib/${MKL_ARCH_DIR}")
-        
-        IF (MKL_INCLUDE_DIR MATCHES "10.")
+        IF(MKL_INCLUDE_DIR MATCHES "2017" OR MKL_INCLUDE_DIR MATCHES "2018")
+                IF(CMAKE_CL_64)
+                        SET(MKL_LIBS mkl_core mkl_intel_lp64 mkl_lapack95_lp64 mkl_blas95_lp64)
+                ELSE()
+                        SET(MKL_LIBS mkl_core mkl_intel_s mkl_lapack95 mkl_blas95)
+                ENDIF()
+                IF(TBB_FOUND AND GTSAM_WITH_TBB)
+                        SET(MKL_LIBS ${MKL_LIBS} mkl_tbb_thread)
+                ELSE()
+                        SET(MKL_LIBS ${MKL_LIBS} mkl_intel_thread libiomp5md)
+                ENDIF()
+        ELSEIF(MKL_INCLUDE_DIR MATCHES "10.")
                 IF(CMAKE_CL_64)
                         SET(MKL_LIBS mkl_solver_lp64 mkl_core mkl_intel_lp64 mkl_intel_thread libguide mkl_lapack95_lp64 mkl_blas95_lp64)
                 ELSE()
@@ -115,7 +125,7 @@ IF(WIN32)
                 ENDIF()
         ENDFOREACH()
         SET(MKL_FOUND ON)
-ELSE() # UNIX and macOS
+ELSEIF(MKL_ROOT_DIR) # UNIX and macOS
         FIND_LIBRARY(MKL_CORE_LIBRARY
           mkl_core
           PATHS
diff --git a/cmake/FindTBB.cmake b/cmake/FindTBB.cmake
index 45b33e3aa..f39d64601 100644
--- a/cmake/FindTBB.cmake
+++ b/cmake/FindTBB.cmake
@@ -82,6 +82,10 @@ if (WIN32)
         set(_TBB_COMPILER "vc11")
         set(TBB_COMPILER "vc11")
     endif(MSVC11)
+    if(MSVC14)
+        set(_TBB_COMPILER "vc14")
+        set(TBB_COMPILER "vc14")
+    endif(MSVC14)
     # Todo: add other Windows compilers such as ICL.
 	if(TBB_ARCHITECTURE)
 		set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index bb0278953..58c150670 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -118,7 +118,7 @@ namespace gtsam {
      * @param q The quaternion
      */
     Rot3(const Quaternion& q);
-    Rot3(double x, double y, double z, double w) : Rot3(Quaternion(x, y, z, w)) {}
+    Rot3(double w, double x, double y, double z) : Rot3(Quaternion(w, x, y, z)) {}
 
     /// Random, generates a random axis, then random angle \in [-p,pi]
     static Rot3 Random(boost::mt19937 & rng);