ok, while I was actually interested in the per flag gain (especially the unsafe loop unrolling) I am still unhappy with hardcoding everything here. Could you add a
```
IF(CMAKE_BUILD_TYPE MATCHES Release)
 rosbuild_add_compile_flags(ptam -O3)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsee -funsafe-loop-optimizations -ffinite-math-only -fno-signed-zeros -fno-math-errno -funroll-loops")
ENDIF(CMAKE_BUILD_TYPE MATCHES Release)
```
So that people can also build meaningful debug code. Thank you