diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index def5cd35fe89743bce48370c67f900afcd0ba95e..c0019cfcf05886f2350a29c8e6320001cdfa89e7 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -134,7 +134,7 @@ ELSE (SPDLOG_INCLUDE_DIR)
  MESSAGE(FATAL_ERROR "Could not find spdlog")
 ENDIF (SPDLOG_INCLUDE_DIR)  
   
-INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
 
 IF(Ceres_FOUND)
     INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index acf4585d32b2310294be3da40ea4c236503c4d78..556e1fa03d02c007ef0b0ed4b09c68e3aa444e42 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -19,7 +19,7 @@ CeresManager::CeresManager(ProblemPtr _wolf_problem, const ceres::Solver::Option
     #else
     covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
     #endif
-    covariance_options.num_threads = 8;
+    covariance_options.num_threads = 1;
     covariance_options.apply_loss_function = false;
     //covariance_options.null_space_rank = -1;
     covariance_ = new ceres::Covariance(covariance_options);