diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt
index 91c5603..9161027 100644
--- a/svo/CMakeLists.txt
+++ b/svo/CMakeLists.txt
@@ -30,17 +30,18 @@ IF(DEBUG_OUTPUT)
 ENDIF()
 
 # Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
-SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
+SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
 IF(DEFINED ENV{ARM_ARCHITECTURE})
-  SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mfpu=neon -march=armv7-a -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
 ELSE()
-  SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
 ENDIF()
 IF(CMAKE_COMPILER_IS_GNUCC)
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
 ELSE()
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 ENDIF()
+SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
 
 # Add plain cmake packages 
 FIND_PACKAGE(OpenCV REQUIRED)