diff --git a/CMakeLists.txt b/CMakeLists.txt
index fd11a6733..b168077b3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -277,7 +277,8 @@ endif()
 
 # Include boost - use 'BEFORE' so that a specific boost specified to CMake
 # takes precedence over a system-installed one.
-include_directories(BEFORE ${Boost_INCLUDE_DIR})
+# Use 'SYSTEM' to ignore compiler warnings in Boost headers
+include_directories(BEFORE SYSTEM ${Boost_INCLUDE_DIR})
 
 # Add includes for source directories 'BEFORE' boost and any system include
 # paths so that the compiler uses GTSAM headers in our source directory instead
@@ -304,6 +305,13 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   endif()
 endif()
 
+# As of XCode 7, clang also complains about this
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
+    add_definitions(-Wno-unused-local-typedefs)
+  endif()
+endif()
+
 if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
   add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
 endif()
@@ -386,6 +394,8 @@ set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>=
 # Print configuration variables
 message(STATUS "===============================================================")
 message(STATUS "================  Configuration Options  ======================")
+message(STATUS "  CMAKE_CXX_COMPILER_ID type     : ${CMAKE_CXX_COMPILER_ID}")
+message(STATUS "  CMAKE_CXX_COMPILER_VERSION     : ${CMAKE_CXX_COMPILER_VERSION}")
 message(STATUS "Build flags                                               ")
 print_config_flag(${GTSAM_BUILD_TESTS}                 "Build Tests                    ")
 print_config_flag(${GTSAM_BUILD_EXAMPLES_ALWAYS}       "Build examples with 'make all' ")