diff --git a/CMakeLists.txt b/CMakeLists.txt
index 071be753c..7e57d645c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,8 +25,8 @@ endif()
 
 # Add debugging flags
 set(CMAKE_CXX_FLAGS_DEBUG          "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall")
-set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall -DNDEBUG")
-set(CMAKE_CXX_FLAGS_RELEASE        "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -Wall")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall -DNDEBUG -DEIGEN_NO_DEBUG")
+set(CMAKE_CXX_FLAGS_RELEASE        "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -Wall -DEIGEN_NO_DEBUG")
 
 # Configurable Options
 # TODO
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index c696ed751..51e9eef4b 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -45,25 +45,28 @@ set(gtsam_srcs
     ${slam_srcs}
 )
  
+# Versions
+set(gtsam_version   ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
+set(gtsam_soversion ${GTSAM_VERSION_MAJOR})
+message(STATUS "GTSAM Version: ${gtsam_version}")
+ 
 # build shared and static versions of the library
 message(STATUS "Building GTSAM - static")
-message(STATUS "GTSAM library sources ${gtsam_srcs}")
+#message(STATUS "GTSAM library sources ${gtsam_srcs}")
 add_library(gtsam-static STATIC ${gtsam_srcs})
-set_target_properties(gtsam-static PROPERTIES OUTPUT_NAME gtsam)
-set_target_properties(gtsam-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
-set_target_properties(gtsam-static PROPERTIES
- 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	)
+set_target_properties(gtsam-static PROPERTIES 
+    OUTPUT_NAME         gtsam
+    CLEAN_DIRECT_OUTPUT 1
+	VERSION             ${gtsam_version}
+ 	SOVERSION           ${gtsam_soversion})
 install(TARGETS gtsam-static ARCHIVE DESTINATION lib)
 
 message(STATUS "Building GTSAM - shared")
 add_library(gtsam-shared SHARED ${gtsam_srcs})
-set_target_properties(gtsam-shared PROPERTIES OUTPUT_NAME gtsam)
-set_target_properties(gtsam-shared PROPERTIES CLEAN_DIRECT_OUTPUT 1)
-set_target_properties(gtsam-shared PROPERTIES
- 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	)
+set_target_properties(gtsam-shared PROPERTIES 
+    OUTPUT_NAME         gtsam
+    CLEAN_DIRECT_OUTPUT 1
+	VERSION             ${gtsam_version}
+ 	SOVERSION           ${gtsam_soversion})
 install(TARGETS gtsam-shared LIBRARY DESTINATION lib )