diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h
index 6fe6c4f..9f7cc97 100644
--- a/svo/include/svo/global.h
+++ b/svo/include/svo/global.h
@@ -39,7 +39,11 @@
   #define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x)
 #else
   #define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "<<x<<"\033[0;0m"<<std::endl;
-  #define SVO_DEBUG_STREAM(x) SVO_INFO_STREAM(x)
+  #ifdef SVO_DEBUG_OUTPUT
+    #define SVO_DEBUG_STREAM(x) SVO_INFO_STREAM(x)
+  #else
+    #define SVO_DEBUG_STREAM(x)
+  #endif
   #define SVO_WARN_STREAM(x) std::cerr<<"\033[0;33m[WARN] "<<x<<"\033[0;0m"<<std::endl;
   #define SVO_ERROR_STREAM(x) std::cerr<<"\033[1;31m[ERROR] "<<x<<"\033[0;0m"<<std::endl;
   #include <chrono> // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc.