diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1150c04..23322e0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,24 +20,34 @@ add_definitions(-Wno-comment)
 # for eigen-3.1.2
 add_definitions(-Wno-deprecated-register)
 
+############################
+# Library Version          #
+############################
+include(cmake/version.cmake)
+
+##########################
+# Library info summary     #
+############################
+include(cmake/info.cmake)
+
+info_begin()
+  info_project("::bot::dbot:: Depth Based Object Tracking Lib" ${PROJECT_VERSION})
+info_end()
+
 ############################
 # Setup                    #
 ############################
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
-set(dbot_INCLUDE_DIRS "include")
+set(dbot_INCLUDE_DIRS include)
 set(dbot_LIBRARY ${PROJECT_NAME})
 set(dbot_LIBRARY_GPU ${dbot_LIBRARY}_gpu)
 
-############################
-# Exports                  #
-############################
-set(dbot_FOUND 1 PARENT_SCOPE)
-set(dbot_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include PARENT_SCOPE)
-set(dbot_LIBRARIES ${dbot_LIBRARY} PARENT_SCOPE)
-set(dbot_DEFINITIONS ${Eigen_DEFINITIONS} PARENT_SCOPE)
-set(dbot_DEPENDS Eigen PARENT_SCOPE)
+set(dbot_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include)
+set(dbot_LIBRARIES ${dbot_LIBRARY})
+set(dbot_DEFINITIONS ${Eigen_DEFINITIONS})
+set(dbot_DEPENDS Eigen)
 
 ############################
 # Dependencies             #
@@ -92,8 +102,18 @@ if(BUILD_DBOT_ON_GPU)
 
     # add gpu sub library
     list(APPEND dbot_LIBRARIES ${PROJECT_NAME}_gpu)
+    list(APPEND dbot_LIBRARIES ${OPENGL_LIBRARIES})
+    list(APPEND dbot_LIBRARIES ${GLEW_LIBRARIES})
+    list(APPEND dbot_LIBRARIES ${GLFW_LIBRARY})
+    list(APPEND dbot_LIBRARIES cuda)
+
+    list(APPEND dbot_INCLUDE_DIRS ${GLEW_INCLUDE_DIRS})
+    list(APPEND dbot_INCLUDE_DIRS ${OpenGL_INCLUDE_DIRS})
+    list(APPEND dbot_INCLUDE_DIRS ${CUDA_CUT_INCLUDE_DIRS})
 endif(BUILD_DBOT_ON_GPU)
 
+
+
 ############################
 ## dbot library            #
 ############################
@@ -114,9 +134,6 @@ add_library(${dbot_LIBRARY}
     ${dbot_HEADERS}
     ${dbot_SOURCES})
 
-target_link_libraries(${dbot_LIBRARY}
-    ${catkin_LIBRARIES})
-
 # Build dbot GPU library
 if(BUILD_DBOT_ON_GPU)
     set(dbot_SOURCE_DIR_GPU
@@ -133,3 +150,16 @@ if(BUILD_DBOT_ON_GPU)
         ${GLFW_LIBRARY}
         ${GLEW_LIBRARIES})
 endif(BUILD_DBOT_ON_GPU)
+
+
+
+############################
+# Exports                  #
+############################
+#message(WARN ${dbot_INCLUDE_DIRS})
+set(dbot_FOUND          1                       PARENT_SCOPE)
+set(dbot_INCLUDE_DIRS   "${dbot_INCLUDE_DIRS}"  PARENT_SCOPE)
+set(dbot_LIBRARIES      "${dbot_LIBRARIES}"     PARENT_SCOPE)
+set(dbot_DEFINITIONS    "${dbot_DEFINITIONS}"   PARENT_SCOPE)
+set(dbot_DEPENDS        "${dbot_DEPENDS}"       PARENT_SCOPE)
+#message(FATAL_ERROR ${dbot_INCLUDE_DIRS})
diff --git a/cmake/FindEigen.cmake b/cmake/FindEigen.cmake
new file mode 100644
index 0000000..8587367
--- /dev/null
+++ b/cmake/FindEigen.cmake
@@ -0,0 +1,81 @@
+###############################################################################
+# 
+# CMake script for finding the Eigen library.
+# 
+# http://eigen.tuxfamily.org/index.php?title=Main_Page
+# 
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD
+# license.
+# 
+# 
+# Input variables:
+# 
+# - Eigen_ROOT_DIR (optional): When specified, header files and libraries
+#   will be searched for in `${Eigen_ROOT_DIR}/include` and
+#   `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order
+#   will be ignored. When unspecified, the default CMake search order is used.
+#   This variable can be specified either as a CMake or environment variable.
+#   If both are set, preference is given to the CMake variable.
+#   Use this variable for finding packages installed in a nonstandard location,
+#   or for enforcing that one of multiple package installations is picked up.
+# 
+# Cache variables (not intended to be used in CMakeLists.txt files)
+# 
+# - Eigen_INCLUDE_DIR: Absolute path to package headers.
+# 
+# 
+# Output variables:
+# 
+# - Eigen_FOUND: Boolean that indicates if the package was found
+# - Eigen_INCLUDE_DIRS: Paths to the necessary header files
+# - Eigen_VERSION: Version of Eigen library found
+# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen
+# 
+# 
+# Example usage:
+# 
+#   # Passing the version means Eigen_FOUND will only be TRUE if a
+#   # version >= the provided version is found.
+#   find_package(Eigen 3.1.2)
+#   if(NOT Eigen_FOUND)
+#     # Error handling
+#   endif()
+#   ...
+#   add_definitions(${Eigen_DEFINITIONS})
+#   ...
+#   include_directories(${Eigen_INCLUDE_DIRS} ...)
+# 
+###############################################################################
+
+find_package(PkgConfig)
+pkg_check_modules(PC_EIGEN eigen3)
+set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER})
+
+
+find_path(EIGEN_INCLUDE_DIR Eigen/Core
+    HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS}
+          "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}"
+          "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"  # Backwards Compatibility
+    PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"
+          "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
+    PATH_SUFFIXES eigen3 include/eigen3 include)
+
+set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
+
+mark_as_advanced(EIGEN_INCLUDE_DIR)
+
+if(EIGEN_FOUND)
+  message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
+endif(EIGEN_FOUND)
+
+
+set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+set(Eigen_FOUND ${EIGEN_FOUND})
+set(Eigen_VERSION ${EIGEN_VERSION})
+set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS})
diff --git a/cmake/doxygen.cmake b/cmake/doxygen.cmake
new file mode 100644
index 0000000..805f116
--- /dev/null
+++ b/cmake/doxygen.cmake
@@ -0,0 +1,91 @@
+############################
+# Documentation Generation #
+############################
+#
+# How to generate the documentation:
+#
+#  $ cd /path/to/osr
+#  $ mkdir build
+#  $ cd build
+#  $ cmake ..
+#  $ make doc_osr
+#
+# The documentation will be generated within /path/to/osr/build/doc
+#
+
+set(DOC_SYNC_LOCATION ""
+    CACHE STRING "Sync location (URL or PATH where to sync the doc to.)")
+
+set(TARGET_FAILED_SCRIPT_TEMPLATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/target_failed.cmake.in)
+
+set(TARGET_FAILED_SCRIPT
+    ${CMAKE_CURRENT_BINARY_DIR}/cmake/target_failed.cmake)
+
+set(VERSION_SCRIPT
+    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/version.cmake)
+
+if(DOXYGEN_FOUND)
+    execute_process(COMMAND "${DOXYGEN_EXECUTABLE}" "--version"
+                    OUTPUT_VARIABLE DOXYGEN_VERSION
+                    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+    if(DOXYGEN_VERSION VERSION_LESS MIN_DOXYGEN_VERSION)
+        set(DOXYGEN_WARN_MSG_OLD   "Doxygen version is too old!")
+        set(DOXYGEN_WARN_MSG_FOUND "Found Doxygen ${DOXYGEN_VERSION}.")
+        set(DOXYGEN_WARN_MSG_REQ   "Required is at least ${MIN_DOXYGEN_VERSION}")
+
+        set(DOXYGEN_WARN_MSG "\n${DOXYGEN_WARN_MSG_OLD}\n")
+        set(DOXYGEN_WARN_MSG "${DOXYGEN_WARN_MSG} (${DOXYGEN_WARN_MSG_FOUND}")
+        set(DOXYGEN_WARN_MSG "${DOXYGEN_WARN_MSG} ${DOXYGEN_WARN_MSG_REQ})")
+        message(WARNING ${DOXYGEN_WARN_MSG})
+
+        set(FATAL_ERROR_MESSAGE ${DOXYGEN_WARN_MSG})
+        configure_file(
+            ${TARGET_FAILED_SCRIPT_TEMPLATE}
+            ${TARGET_FAILED_SCRIPT} @ONLY)
+
+        add_custom_target(doc_osr
+            COMMAND ${CMAKE_COMMAND} -P ${TARGET_FAILED_SCRIPT})
+        add_custom_target(doc_osr_and_sync
+            COMMAND ${CMAKE_COMMAND} -P ${TARGET_FAILED_SCRIPT})
+    else(DOXYGEN_VERSION VERSION_LESS MIN_DOXYGEN_VERSION)
+        # doc_osr target
+        add_custom_target(doc_osr
+            COMMAND ${CMAKE_COMMAND}
+                -D PROJECT_SOURCE_DIR:string=${PROJECT_SOURCE_DIR}
+                -D PROJECT_BINARY_DIR:string=${PROJECT_BINARY_DIR}
+                -P ${VERSION_SCRIPT}
+            COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+            WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+            COMMENT "Generating API documentation with Doxygen" VERBATIM)
+
+        # doc_osr_and_sync target
+        configure_file(
+            ${CMAKE_CURRENT_SOURCE_DIR}/cmake/sync_doc.cmake.in
+            ${CMAKE_CURRENT_BINARY_DIR}/cmake/sync_doc.cmake @ONLY)
+
+        add_custom_target(doc_osr_and_sync
+            COMMAND ${CMAKE_COMMAND}
+                -D PROJECT_SOURCE_DIR:string=${PROJECT_SOURCE_DIR}
+                -D PROJECT_BINARY_DIR:string=${PROJECT_BINARY_DIR}
+                -P ${VERSION_SCRIPT}
+            COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+            COMMAND ${CMAKE_COMMAND} -P
+                    ${CMAKE_CURRENT_BINARY_DIR}/cmake/sync_doc.cmake
+            WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+            COMMENT "Generating API documentation with Doxygen" VERBATIM)
+
+    endif(DOXYGEN_VERSION VERSION_LESS MIN_DOXYGEN_VERSION)
+else(DOXYGEN_FOUND)
+    set(DOXYGEN_WARN_MSG "Doxygen not found.")
+    message(${DOXYGEN_WARN_MSG})
+
+    set(FATAL_ERROR_MESSAGE ${DOXYGEN_WARN_MSG})
+    configure_file(
+        ${TARGET_FAILED_SCRIPT_TEMPLATE}
+        ${TARGET_FAILED_SCRIPT} @ONLY)
+
+    add_custom_target(doc_osr
+        COMMAND ${CMAKE_COMMAND} -P ${TARGET_FAILED_SCRIPT})
+endif(DOXYGEN_FOUND)
diff --git a/cmake/gtest.cmake b/cmake/gtest.cmake
new file mode 100644
index 0000000..2c08325
--- /dev/null
+++ b/cmake/gtest.cmake
@@ -0,0 +1,68 @@
+
+include(ExternalProject)
+include(CMakeParseArguments)
+
+if(TARGET gtest)
+
+    set(gtest_LIBRARY gtest)
+    set(gtest_main_LIBRARY gtest_main)
+    set(${PROJECT_NAME}_TEST_LIBS ${gtest_LIBRARY} ${gtest_main_LIBRARY})
+
+else(TARGET gtest)
+
+    message("No gtest found. Downloading and building gtest framework ...")
+
+    set(gtest_LIBRARY ${PROJECT_NAME}_gtest)
+    set(gtest_main_LIBRARY ${PROJECT_NAME}_gtest_main)
+    set(${PROJECT_NAME}_TEST_LIBS ${gtest_LIBRARY} ${gtest_main_LIBRARY})
+
+    set(GTEST_FRAMEWORK ${PROJECT_NAME}_gtest_framework)
+
+    ExternalProject_Add(
+        ${GTEST_FRAMEWORK}
+        URL https://googletest.googlecode.com/files/gtest-1.6.0.zip
+        PREFIX ${CMAKE_CURRENT_BINARY_DIR}/gtest
+        INSTALL_COMMAND "" # do not install this library
+        CMAKE_ARGS -Dgtest_disable_pthreads=ON -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
+    )
+
+    ExternalProject_Get_Property(${GTEST_FRAMEWORK} source_dir binary_dir)
+
+    set(gtest_INCLUDE_DIR ${source_dir}/include)
+    set(gtest_LIBRARY_PATH
+            ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}gtest.a)
+    set(gtest_main_LIBRARY_PATH
+            ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main.a)
+
+    add_library(${gtest_LIBRARY} STATIC IMPORTED GLOBAL)
+    set_target_properties(${gtest_LIBRARY}
+        PROPERTIES
+        IMPORTED_LOCATION ${gtest_LIBRARY_PATH}
+        IMPORTED_LINK_INTERFACE_LIBRARIES "${CMAKE_THREAD_LIBS_INIT}")
+    add_dependencies(${gtest_LIBRARY} ${GTEST_FRAMEWORK})
+
+    add_library(${gtest_main_LIBRARY} STATIC IMPORTED GLOBAL)
+    set_target_properties(${gtest_main_LIBRARY}
+        PROPERTIES
+        IMPORTED_LOCATION ${gtest_main_LIBRARY_PATH}
+        IMPORTED_LINK_INTERFACE_LIBRARIES "${CMAKE_THREAD_LIBS_INIT}")
+    add_dependencies(${gtest_main_LIBRARY} ${gtest_LIBRARY})
+
+    include_directories(${gtest_INCLUDE_DIR})
+
+endif(TARGET gtest)
+
+function(${PROJECT_NAME}_add_test)
+    set(options)
+    set(oneValueArgs NAME)
+    set(multiValueArgs SOURCES LIBS)
+    cmake_parse_arguments(${PROJECT_NAME}
+        "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    set(TEST_NAME "${${PROJECT_NAME}_NAME}_test")
+
+    add_executable(${TEST_NAME} ${${PROJECT_NAME}_SOURCES})
+    target_link_libraries(${TEST_NAME}
+        ${${PROJECT_NAME}_TEST_LIBS} ${${PROJECT_NAME}_LIBS})
+    add_test(${TEST_NAME} ${TEST_NAME})
+endfunction(${PROJECT_NAME}_add_test)
diff --git a/cmake/info.cmake b/cmake/info.cmake
new file mode 100644
index 0000000..30608c6
--- /dev/null
+++ b/cmake/info.cmake
@@ -0,0 +1,45 @@
+############################
+# Info gen. functions      #
+############################
+# I'm sure there is a better way of doing this...
+execute_process(
+    COMMAND bash -c
+        "v=`ps -o stat= -p $PPID`
+         [[ $v == *+* ]] || [[ $v == *s* ]] && echo YES || echo NO"
+    OUTPUT_VARIABLE ISATTY
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+if(ISATTY STREQUAL "YES")
+    string(ASCII 27 Esc)
+    set(COLOR_BORDER "${Esc}[35m")
+    set(COLOR_HEADER "${Esc}[34m")
+    set(COLOR_BOLD   "${Esc}[1m")
+    set(COLOR_CLEAR  "${Esc}[m")
+else(ISATTY STREQUAL "YES")
+    set(COLOR_BORDER "")
+    set(COLOR_HEADER "")
+    set(COLOR_BOLD   "")
+    set(COLOR_CLEAR  "")
+endif(ISATTY STREQUAL "YES")
+
+function(info_begin)
+  message(STATUS "${COLOR_BORDER}=================================================${COLOR_CLEAR}")
+endfunction(info_begin)
+
+function(info_end)
+  message(STATUS "${COLOR_BORDER}=====${COLOR_CLEAR}")
+endfunction(info_end)
+
+function(info_project project_name project_version)
+message(STATUS "${COLOR_BORDER}== ${COLOR_CLEAR} ${COLOR_HEADER}${project_name}${COLOR_CLEAR}")
+message(STATUS "${COLOR_BORDER}== ${COLOR_CLEAR} Version: ${COLOR_BOLD}${project_version}${COLOR_CLEAR}")
+endfunction(info_package)
+
+function(info_header list_header)
+  message(STATUS "${COLOR_BORDER}== ${COLOR_CLEAR} ")
+  message(STATUS "${COLOR_BORDER}== ${COLOR_CLEAR} ${COLOR_BOLD}${list_header}")
+endfunction(info_header)
+
+function(info_item item_name item_value)
+  message(STATUS "${COLOR_BORDER}== ${COLOR_CLEAR} - ${item_name}:${COLOR_BOLD} ${item_value}")
+endfunction(info_item)
diff --git a/cmake/sync_doc.cmake.in b/cmake/sync_doc.cmake.in
new file mode 100644
index 0000000..7dbe23e
--- /dev/null
+++ b/cmake/sync_doc.cmake.in
@@ -0,0 +1,10 @@
+
+set(DOC_SYNC_LOCATION "@DOC_SYNC_LOCATION@")
+
+if(DOC_SYNC_LOCATION)
+    message("\n --- Sync documentation to ${DOC_SYNC_LOCATION} ... \n ")
+    execute_process(
+        COMMAND rsync -ruv --force --delete ${CMAKE_CURRENT_BINARY_DIR}/doc/html/ ${DOC_SYNC_LOCATION})
+else(DOC_SYNC_LOCATION)
+    message(FATAL_ERROR "Please specify the doc location via DOC_SYNC_LOCATION !")
+endif(DOC_SYNC_LOCATION)
diff --git a/cmake/target_failed.cmake.in b/cmake/target_failed.cmake.in
new file mode 100644
index 0000000..43b0070
--- /dev/null
+++ b/cmake/target_failed.cmake.in
@@ -0,0 +1,2 @@
+
+message(FATAL_ERROR "@FATAL_ERROR_MESSAGE@")
diff --git a/cmake/version.cmake b/cmake/version.cmake
new file mode 100644
index 0000000..70d0c0e
--- /dev/null
+++ b/cmake/version.cmake
@@ -0,0 +1,12 @@
+
+find_package(Git)
+
+execute_process(COMMAND ${GIT_EXECUTABLE} describe --tags --always
+                WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+                OUTPUT_VARIABLE PROJECT_VERSION
+                OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+# update version in documentation config
+#configure_file(
+#    ${PROJECT_SOURCE_DIR}/doc/Doxyfile.in
+#    ${PROJECT_BINARY_DIR}/Doxyfile @ONLY)