diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9660f55..c4a076f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,7 @@ set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
 
 OPTION(BUILD_TESTS "Build tests" ON)
 OPTION(BUILD_PYTHON "Build Python extension" OFF)
+OPTION(BUILD_WITH_MARCHNATIVE "Build with -march=native" ON)
 
 IF(MSVC)
   set(BUILD_SHARED_LIBS OFF)
@@ -35,7 +36,7 @@ ELSE()
   ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES 
           "(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
     add_definitions (-march=armv7-a)
-  ELSE ()
+  ELSEIF (BUILD_WITH_MARCHNATIVE)
     add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
   ENDIF()
   add_definitions (
@@ -54,8 +55,9 @@ IF(BUILD_POSITION_INDEPENDENT_CODE)
 ENDIF()
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/modules/")
-find_package(Eigen REQUIRED)
-set(ADDITIONAL_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR}/unsupported)
+find_package(Eigen3 REQUIRED)
+get_target_property(EIGEN3_INCLUDE_DIR Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
+set(ADDITIONAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}/unsupported)
 
 set( OPENGV_SOURCE_FILES
   src/absolute_pose/modules/main.cpp
@@ -187,13 +189,10 @@ set_target_properties( opengv random_generators PROPERTIES
 
 target_include_directories( opengv PUBLIC 
                 # only when building from the source tree
-                $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+                "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include;${ADDITIONAL_INCLUDE_DIRS}>"
                 # only when using the lib from the install path
-                $<INSTALL_INTERFACE:include>
-                ${ADDITIONAL_INCLUDE_DIRS} )
-
-target_include_directories( random_generators PRIVATE ${ADDITIONAL_INCLUDE_DIRS} )
-
+                "$<INSTALL_INTERFACE:include>" )
+target_link_libraries(opengv PUBLIC Eigen3::Eigen)
 target_link_libraries( random_generators opengv )
 
 IF (BUILD_TESTS)
diff --git a/modules/Config.cmake.in b/modules/Config.cmake.in
index 9b4c9ee..6963356 100644
--- a/modules/Config.cmake.in
+++ b/modules/Config.cmake.in
@@ -1,4 +1,4 @@
 @PACKAGE_INIT@
-
+find_dependency(Eigen3 CONFIG)
 include("${CMAKE_CURRENT_LIST_DIR}/@targets_export_name@.cmake")
 check_required_components("@PROJECT_NAME@")
diff --git a/src/absolute_pose/CentralAbsoluteAdapter.cpp b/src/absolute_pose/CentralAbsoluteAdapter.cpp
index 684fa7e..ead54ac 100644
--- a/src/absolute_pose/CentralAbsoluteAdapter.cpp
+++ b/src/absolute_pose/CentralAbsoluteAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
+#include <cassert>
 
 
 opengv::absolute_pose::CentralAbsoluteAdapter::CentralAbsoluteAdapter(
diff --git a/src/absolute_pose/MACentralAbsolute.cpp b/src/absolute_pose/MACentralAbsolute.cpp
index 6edbabc..1164b30 100644
--- a/src/absolute_pose/MACentralAbsolute.cpp
+++ b/src/absolute_pose/MACentralAbsolute.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/absolute_pose/MACentralAbsolute.hpp>
+#include <cassert>
 
 
 opengv::absolute_pose::MACentralAbsolute::MACentralAbsolute(
diff --git a/src/absolute_pose/MANoncentralAbsolute.cpp b/src/absolute_pose/MANoncentralAbsolute.cpp
index d9b5b09..1d2041c 100644
--- a/src/absolute_pose/MANoncentralAbsolute.cpp
+++ b/src/absolute_pose/MANoncentralAbsolute.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/absolute_pose/MANoncentralAbsolute.hpp>
+#include <cassert>
 
 opengv::absolute_pose::MANoncentralAbsolute::MANoncentralAbsolute(
     const double * points,
diff --git a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
index 30176aa..399699b 100644
--- a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
+++ b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
+#include <cassert>
 
 opengv::absolute_pose::NoncentralAbsoluteAdapter::NoncentralAbsoluteAdapter(
     const bearingVectors_t & bearingVectors,
diff --git a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
index 88c237a..b88bbb2 100644
--- a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
+++ b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
+#include <cassert>
 
 opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter(
     std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors,
diff --git a/src/absolute_pose/methods.cpp b/src/absolute_pose/methods.cpp
index b1f0889..6d7a73c 100644
--- a/src/absolute_pose/methods.cpp
+++ b/src/absolute_pose/methods.cpp
@@ -34,6 +34,7 @@
 
 #include <Eigen/NonLinearOptimization>
 #include <Eigen/NumericalDiff>
+#include <cassert>
 
 #include <opengv/absolute_pose/modules/main.hpp>
 #include <opengv/absolute_pose/modules/Epnp.hpp>
diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp
index ed0c271..011dbcc 100644
--- a/src/absolute_pose/modules/main.cpp
+++ b/src/absolute_pose/modules/main.cpp
@@ -46,6 +46,8 @@
 #include <opengv/math/arun.hpp>
 #include <opengv/math/cayley.hpp>
 
+#include <cassert>
+
 void
 opengv::absolute_pose::modules::p3p_kneip_main(
     const bearingVectors_t & f,
diff --git a/src/math/arun.cpp b/src/math/arun.cpp
index a0d6296..bc729f6 100644
--- a/src/math/arun.cpp
+++ b/src/math/arun.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/math/arun.hpp>
+#include <cassert>
 
 opengv::rotation_t
 opengv::math::arun( const Eigen::MatrixXd & Hcross )
diff --git a/src/point_cloud/MAPointCloud.cpp b/src/point_cloud/MAPointCloud.cpp
index 81fd5dd..a216857 100644
--- a/src/point_cloud/MAPointCloud.cpp
+++ b/src/point_cloud/MAPointCloud.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/point_cloud/MAPointCloud.hpp>
+#include <cassert>
 
 opengv::point_cloud::MAPointCloud::MAPointCloud(
     const double * points1,
diff --git a/src/point_cloud/PointCloudAdapter.cpp b/src/point_cloud/PointCloudAdapter.cpp
index f9faaeb..1f8e951 100644
--- a/src/point_cloud/PointCloudAdapter.cpp
+++ b/src/point_cloud/PointCloudAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/point_cloud/PointCloudAdapter.hpp>
+#include <cassert>
 
 opengv::point_cloud::PointCloudAdapter::PointCloudAdapter(
     const points_t & points1,
diff --git a/src/point_cloud/methods.cpp b/src/point_cloud/methods.cpp
index 5409eeb..f098a1d 100644
--- a/src/point_cloud/methods.cpp
+++ b/src/point_cloud/methods.cpp
@@ -39,6 +39,8 @@
 #include <opengv/math/arun.hpp>
 #include <opengv/math/cayley.hpp>
 
+#include <cassert>
+
 namespace opengv
 {
 namespace point_cloud
diff --git a/src/relative_pose/CentralRelativeAdapter.cpp b/src/relative_pose/CentralRelativeAdapter.cpp
index 38e9a62..b2e9d98 100644
--- a/src/relative_pose/CentralRelativeAdapter.cpp
+++ b/src/relative_pose/CentralRelativeAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
+#include <cassert>
 
 opengv::relative_pose::CentralRelativeAdapter::CentralRelativeAdapter(
     const bearingVectors_t & bearingVectors1,
diff --git a/src/relative_pose/CentralRelativeMultiAdapter.cpp b/src/relative_pose/CentralRelativeMultiAdapter.cpp
index 2ab7476..e522205 100644
--- a/src/relative_pose/CentralRelativeMultiAdapter.cpp
+++ b/src/relative_pose/CentralRelativeMultiAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/CentralRelativeMultiAdapter.hpp>
+#include <cassert>
 
 opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter(
     std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors1,
diff --git a/src/relative_pose/CentralRelativeWeightingAdapter.cpp b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
index a6ab478..9401dc2 100644
--- a/src/relative_pose/CentralRelativeWeightingAdapter.cpp
+++ b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/CentralRelativeWeightingAdapter.hpp>
+#include <cassert>
 
 opengv::relative_pose::CentralRelativeWeightingAdapter::CentralRelativeWeightingAdapter(
     const bearingVectors_t & bearingVectors1,
diff --git a/src/relative_pose/MACentralRelative.cpp b/src/relative_pose/MACentralRelative.cpp
index ec2959f..c1feb7c 100644
--- a/src/relative_pose/MACentralRelative.cpp
+++ b/src/relative_pose/MACentralRelative.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/MACentralRelative.hpp>
+#include <cassert>
 
 opengv::relative_pose::MACentralRelative::MACentralRelative(
     const double * bearingVectors1,
diff --git a/src/relative_pose/MANoncentralRelative.cpp b/src/relative_pose/MANoncentralRelative.cpp
index cea9c14..fc65c64 100644
--- a/src/relative_pose/MANoncentralRelative.cpp
+++ b/src/relative_pose/MANoncentralRelative.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/MANoncentralRelative.hpp>
+#include <cassert>
 
 opengv::relative_pose::MANoncentralRelative::MANoncentralRelative(
       const double * bearingVectors1,
diff --git a/src/relative_pose/MANoncentralRelativeMulti.cpp b/src/relative_pose/MANoncentralRelativeMulti.cpp
index 49f8ecf..1e58fde 100644
--- a/src/relative_pose/MANoncentralRelativeMulti.cpp
+++ b/src/relative_pose/MANoncentralRelativeMulti.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/MANoncentralRelativeMulti.hpp>
+#include <cassert>
 
 opengv::relative_pose::MANoncentralRelativeMulti::MANoncentralRelativeMulti(
     const std::vector<double*> & bearingVectors1,
diff --git a/src/relative_pose/NoncentralRelativeAdapter.cpp b/src/relative_pose/NoncentralRelativeAdapter.cpp
index 552f180..9edf294 100644
--- a/src/relative_pose/NoncentralRelativeAdapter.cpp
+++ b/src/relative_pose/NoncentralRelativeAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/NoncentralRelativeAdapter.hpp>
+#include <cassert>
 
 opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter(
     const bearingVectors_t & bearingVectors1,
diff --git a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
index f41edbe..c720a5a 100644
--- a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
+++ b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
@@ -30,6 +30,7 @@
 
 
 #include <opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp>
+#include <cassert>
 
 opengv::relative_pose::NoncentralRelativeMultiAdapter::NoncentralRelativeMultiAdapter(
     std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors1,
diff --git a/src/relative_pose/methods.cpp b/src/relative_pose/methods.cpp
index 0027dae..e2e26b1 100644
--- a/src/relative_pose/methods.cpp
+++ b/src/relative_pose/methods.cpp
@@ -42,6 +42,7 @@
 #include <opengv/triangulation/methods.hpp>
 
 #include <iostream>
+#include <cassert>
 
 opengv::translation_t
 opengv::relative_pose::twopt(
diff --git a/src/relative_pose/modules/fivept_nister/modules.cpp b/src/relative_pose/modules/fivept_nister/modules.cpp
index 4b134c5..f24e3f1 100644
--- a/src/relative_pose/modules/fivept_nister/modules.cpp
+++ b/src/relative_pose/modules/fivept_nister/modules.cpp
@@ -34,6 +34,7 @@
 #include <Eigen/NumericalDiff>
 
 #include <opengv/OptimizationFunctor.hpp>
+#include <cassert>
 
 void
 opengv::relative_pose::modules::fivept_nister::composeA(