diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3765fb94..9ad9d198 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -236,22 +236,6 @@ IF(WITH_GTSAM)
     FIND_PACKAGE(GTSAM QUIET)
 ENDIF(WITH_GTSAM)
 
-IF(G2O_FOUND OR GTSAM_FOUND)
-   #Newest versions require std11
-   IF(NOT MSVC)
-     include(CheckCXXCompilerFlag)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-	  IF(COMPILER_SUPPORTS_CXX11)
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-	  ELSEIF(COMPILER_SUPPORTS_CXX0X)
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-	  ELSE()
-		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
-	  ENDIF()
-   ENDIF()
-ENDIF(G2O_FOUND OR GTSAM_FOUND)
-
 IF(WITH_FLYCAPTURE2)
     FIND_PACKAGE(FlyCapture2 QUIET)
     IF(FlyCapture2_FOUND)
@@ -280,7 +264,7 @@ IF(WITH_ZED)
 			LINK_DIRECTORIES( ${LINK_DIRECTORIES} ${ZED_LIBRARY_DIR})
 		ENDIF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
 	ELSE() # Linux
-		find_package(ZED 0.9)
+		find_package(ZED 0.9 QUIET)
 	ENDIF(WIN32)
 	
 	IF(ZED_FOUND)
@@ -295,6 +279,22 @@ IF(WITH_ZED)
     ENDIF(ZED_FOUND)
 ENDIF(WITH_ZED)
 
+IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND)
+   #Newest versions require std11
+   IF(NOT MSVC)
+     include(CheckCXXCompilerFlag)
+	  CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+	  CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+	  IF(COMPILER_SUPPORTS_CXX11)
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+	  ELSEIF(COMPILER_SUPPORTS_CXX0X)
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+	  ELSE()
+		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
+	  ENDIF()
+   ENDIF()
+ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND)
+
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
   IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
diff --git a/corelib/src/CameraStereo.cpp b/corelib/src/CameraStereo.cpp
index 8ec0e4ed..8c59f687 100644
--- a/corelib/src/CameraStereo.cpp
+++ b/corelib/src/CameraStereo.cpp
@@ -778,16 +778,13 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 		zed_ = new sl::zed::Camera(sl::zed::HD720); // Use in Live Mode
 		//zed_ = new sl::zed::Camera(argv[1]); // Use in SVO playback mode
 
-		int width = zed_->getImageSize().width;
-		int height = zed_->getImageSize().height;
-
 		//init WITH self-calibration (- last parameter to false -)
 		sl::zed::ERRCODE err = zed_->init(sl::zed::MODE::PERFORMANCE, 0, true, false, false);
 
 		// Quit if an error occurred
 		if (err != sl::zed::SUCCESS)
 		{
-			UERROR("ZED camera initialization failed: %s", sl::zed::errcode2str(err));
+			UERROR("ZED camera initialization failed: %s", sl::zed::errcode2str(err).c_str());
 			delete zed_;
 			zed_ = 0;
 			return false;