diff --git a/gtsam/base/tests/testCholesky.cpp b/gtsam/base/tests/testCholesky.cpp
index 55c72543e..8e8da7a70 100644
--- a/gtsam/base/tests/testCholesky.cpp
+++ b/gtsam/base/tests/testCholesky.cpp
@@ -81,38 +81,38 @@ TEST(cholesky, BadScalingSVD) {
   double expectedCondition = 1e40;
   double actualCondition = S(0) / S(1);
 
-  DOUBLES_EQUAL(expectedCondition, actualCondition, 1e-41);
+  DOUBLES_EQUAL(expectedCondition, actualCondition, 1e30);
 }
 
 /* ************************************************************************* */
 TEST(cholesky, underconstrained) {
 	Matrix L(6,6); L <<
-		1,	0,	0,	0,	0,	0,
-		1.11177808157954,	1.06204809504665,	0.507342638873381,	1.34953401829486,	1,	0,
-		0.155864888199928,	1.10933048588373,	0.501255576961674,	1,	0,	0,
-		1.12108665967793,	1.01584408366945,	1,	0,	0,	0,
-		0.776164062474843,	0.117617236580373,	-0.0236628691347294,	0.814118199972143,	0.694309975328922,	1,
+		1,	0,	0,	0,	0,	0,
+		1.11177808157954,	1.06204809504665,	0.507342638873381,	1.34953401829486,	1,	0,
+		0.155864888199928,	1.10933048588373,	0.501255576961674,	1,	0,	0,
+		1.12108665967793,	1.01584408366945,	1,	0,	0,	0,
+		0.776164062474843,	0.117617236580373,	-0.0236628691347294,	0.814118199972143,	0.694309975328922,	1,
 		0.1197220685104,	1,	0,	0,	0,	0;
 	Matrix D1(6,6); D1 <<
-		0.814723686393179,	0,	0,	0,	0,	0,
-		0,	0.811780089277421,	0,	0,	0,	0,
-		0,	0,	1.82596950680844,	0,	0,	0,
-		0,	0,	0,	0.240287537694585,	0,	0,
-		0,	0,	0,	0,	1.34342584865901,	0,
+		0.814723686393179,	0,	0,	0,	0,	0,
+		0,	0.811780089277421,	0,	0,	0,	0,
+		0,	0,	1.82596950680844,	0,	0,	0,
+		0,	0,	0,	0.240287537694585,	0,	0,
+		0,	0,	0,	0,	1.34342584865901,	0,
 		0,	0,	0,	0,	0,	1e-12;
 	Matrix D2(6,6); D2 <<
-		0.814723686393179,	0,	0,	0,	0,	0,
-		0,	0.811780089277421,	0,	0,	0,	0,
-		0,	0,	1.82596950680844,	0,	0,	0,
-		0,	0,	0,	0.240287537694585,	0,	0,
-		0,	0,	0,	0,	0,	0,
+		0.814723686393179,	0,	0,	0,	0,	0,
+		0,	0.811780089277421,	0,	0,	0,	0,
+		0,	0,	1.82596950680844,	0,	0,	0,
+		0,	0,	0,	0.240287537694585,	0,	0,
+		0,	0,	0,	0,	0,	0,
 		0,	0,	0,	0,	0,	0;
 	Matrix D3(6,6); D3 <<
-		0.814723686393179,	0,	0,	0,	0,	0,
-		0,	0.811780089277421,	0,	0,	0,	0,
-		0,	0,	1.82596950680844,	0,	0,	0,
-		0,	0,	0,	0.240287537694585,	0,	0,
-		0,	0,	0,	0,	-0.5,	0,
+		0.814723686393179,	0,	0,	0,	0,	0,
+		0,	0.811780089277421,	0,	0,	0,	0,
+		0,	0,	1.82596950680844,	0,	0,	0,
+		0,	0,	0,	0.240287537694585,	0,	0,
+		0,	0,	0,	0,	-0.5,	0,
 		0,	0,	0,	0,	0,	-0.6;
 
 	Matrix A1 = L * D1 * L.transpose();
diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
index 1b1ae5390..21f5f2008 100644
--- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
@@ -366,7 +366,7 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) {
   }
 
   // Constrain position of system with the first camera constrained to the origin
-  graph.addCameraConstraint(X(0), cameras[0]);
+  graph.addCameraConstraint(0, cameras[0]);
 
   // Constrain the scale of the problem with a soft range factor of 1m between the cameras
   graph.add(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0)));
diff --git a/package_scripts/compile_static_boost.sh b/package_scripts/compile_static_boost.sh
new file mode 100644
index 000000000..466283044
--- /dev/null
+++ b/package_scripts/compile_static_boost.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+# Compile boost statically, with -fPIC to allow linking it into the mex
+# module (which is a dynamic library).  --disable-icu prevents depending
+# on libicu, which is unneeded and would require then linking the mex
+# module with it as well.  We just stage instead of install, then the
+# toolbox_package_unix.sh script uses the staged boost.
+./b2 link=static threading=multi cxxflags=-fPIC cflags=-fPIC --disable-icu -a stage
\ No newline at end of file
diff --git a/package_scripts/toolbox_package_unix.sh b/package_scripts/toolbox_package_unix.sh
index b78649e15..6f5cda526 100755
--- a/package_scripts/toolbox_package_unix.sh
+++ b/package_scripts/toolbox_package_unix.sh
@@ -7,6 +7,8 @@ if [ "$os" = "Linux" -a "$arch" = "x86_64" ]; then
 	platform=lin64
 elif [ "$os" = "Linux" -a "$arch" = "i686" ]; then
 	platform=lin32
+elif [ "$os" = "Darwin" -a "$arch" = "x86_64" ]; then
+	platform=mac64
 else
 	echo "Unrecognized platform"
 	exit 1