diff --git a/CMakeLists.txt b/CMakeLists.txt
index ab947c34..28e7feee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ ENDIF(NOT WIN32)
 #######################
 # VERSION
 #######################
-SET(PROJECT_VERSION "0.4.6")
+SET(PROJECT_VERSION "0.5.0")
 ADD_DEFINITIONS(-DPROJECT_VERSION="${PROJECT_VERSION}")
 
 STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
@@ -34,11 +34,46 @@ ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
 
 SET(CMAKE_DEBUG_POSTFIX "d")
 
+####### Build libraries as shared or static #######
+OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
+
+####### SET RPATH #########
+# When RPATH is activated (supported on most UNIX systems), 
+# the user doesn't need to change LD_LIBRARY_PATH
+
+# use, i.e. don't skip the full RPATH for the build tree
+SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
+
+# when building, don't use the install RPATH already
+# (but later on when installing)
+SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) 
+
+# the RPATH to be used when installing
+SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
+
+# add the automatically determined parts of the RPATH
+# which point to directories outside the build tree to the install RPATH
+SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
 ####### OUTPUT DIR #######
 SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
+####### INSTALL DIR #######
+# Offer the user the choice of overriding the installation directories
+set(INSTALL_LIB_DIR lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH "Installation directory for libraries")
+set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
+set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH
+  "Installation directory for header files")
+if(WIN32 AND NOT CYGWIN)
+  set(DEF_INSTALL_CMAKE_DIR CMake)
+else()
+  set(DEF_INSTALL_CMAKE_DIR lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR})
+endif()
+set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
+  "Installation directory for CMake files")
+
 ####### DEPENDENCIES #######
 FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
 FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork) # tested on Qt4.7
@@ -63,6 +98,7 @@ IF(APPLE AND BUILD_AS_BUNDLE)
 ENDIF(APPLE AND BUILD_AS_BUNDLE)
 
 ####### SOURCES (Projects) #######
+ADD_SUBDIRECTORY( src )
 ADD_SUBDIRECTORY( app )
 ADD_SUBDIRECTORY( example )
 ADD_SUBDIRECTORY( tcpClient )
@@ -82,6 +118,36 @@ CONFIGURE_FILE(
 ADD_CUSTOM_TARGET(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
 
+#######################
+# Setup FindObjectConfig.cmake
+#######################
+# Create the FindObjectConfig.cmake and FindObjectConfigVersion files
+file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
+file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
+   
+# ... for the build tree
+set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
+set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+configure_file(FindObjectConfig.cmake.in
+  "${PROJECT_BINARY_DIR}/FindObjectConfig.cmake" @ONLY)
+  
+# ... for the install tree
+set(CONF_INCLUDE_DIRS "\${FindObject_CMAKE_DIR}/${REL_INCLUDE_DIR}")
+set(CONF_LIB_DIR "\${FindObject_CMAKE_DIR}/${REL_LIB_DIR}")
+configure_file(FindObjectConfig.cmake.in
+  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake" @ONLY)
+  
+# ... for both
+configure_file(FindObjectConfigVersion.cmake.in
+  "${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake" @ONLY)
+
+# Install the FindObjectConfig.cmake and FindObjectConfigVersion.cmake
+install(FILES
+  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake"
+  "${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT devel)
+####
+
 #######################
 # CPACK (Packaging)
 #######################
diff --git a/FindObjectConfig.cmake.in b/FindObjectConfig.cmake.in
new file mode 100644
index 00000000..f9d908e5
--- /dev/null
+++ b/FindObjectConfig.cmake.in
@@ -0,0 +1,10 @@
+# - Config file for the FindObject package
+# It defines the following variables
+#  FindObject_INCLUDE_DIRS - include directories for FindObject
+#  FindObject_LIBRARIES    - libraries to link against
+
+# Compute paths
+get_filename_component(FindObject_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+set(FindObject_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
+
+find_library(FindObject_LIBRARIES NAMES find_object NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
\ No newline at end of file
diff --git a/FindObjectConfigVersion.cmake.in b/FindObjectConfigVersion.cmake.in
new file mode 100644
index 00000000..22ffec0f
--- /dev/null
+++ b/FindObjectConfigVersion.cmake.in
@@ -0,0 +1,11 @@
+set(PACKAGE_VERSION "@PROJECT_VERSION@")
+
+# Check whether the requested PACKAGE_FIND_VERSION is compatible
+if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else()
+  set(PACKAGE_VERSION_COMPATIBLE TRUE)
+  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
+    set(PACKAGE_VERSION_EXACT TRUE)
+  endif()
+endif()
diff --git a/app/CMakeLists.txt b/app/CMakeLists.txt
index 7f73f477..e8de3fc0 100644
--- a/app/CMakeLists.txt
+++ b/app/CMakeLists.txt
@@ -1,74 +1,8 @@
 
-
-### Qt Gui stuff ###
-SET(headers_ui 
-	../src/MainWindow.h
-	../src/AddObjectDialog.h
-	../src/ObjWidget.h
-	../src/FindObject.h
-	../src/Camera.h
-	../src/CameraTcpClient.h
-	../src/ParametersToolBox.h
-	../src/AboutDialog.h
-	../src/TcpServer.h
-	../src/RectItem.h
-	../src/utilite/UPlot.h
-	../src/rtabmap/PdfPlot.h
-)
-
-SET(uis
-    ../src/ui/mainWindow.ui
-    ../src/ui/addObjectDialog.ui
-    ../src/ui/aboutDialog.ui
-)
-
-SET(qrc 
-    ../src/resources.qrc
-)
-
-# generate rules for building source files from the resources
-QT4_ADD_RESOURCES(srcs_qrc ${qrc})
-
-#Generate .h files from the .ui files
-QT4_WRAP_UI(moc_uis ${uis})
-
-#This will generate moc_* for Qt
-QT4_WRAP_CPP(moc_srcs ${headers_ui})
-### Qt Gui stuff  end###
-
-
-SET(SRC_FILES 
-	./main.cpp
-	../src/MainWindow.cpp
-	../src/AddObjectDialog.cpp
-	../src/KeypointItem.cpp
-	../src/RectItem.cpp
-	../src/QtOpenCV.cpp
-	../src/Camera.cpp
-	../src/CameraTcpClient.cpp
-	../src/ParametersToolBox.cpp
-	../src/Settings.cpp
-	../src/ObjWidget.cpp
-	../src/FindObject.cpp
-	../src/AboutDialog.cpp
-	../src/TcpServer.cpp
-	../src/Vocabulary.cpp
-	../src/utilite/ULogger.cpp
-	../src/utilite/UPlot.cpp
-	../src/utilite/UDirectory.cpp
-	../src/utilite/UFile.cpp
-	../src/utilite/UConversion.cpp
-	../src/rtabmap/PdfPlot.cpp
-	${moc_srcs} 
-	${moc_uis} 
-	${srcs_qrc}
-)
-
 SET(INCLUDE_DIRS
-	${CMAKE_CURRENT_SOURCE_DIR}/../src
+	${CMAKE_CURRENT_SOURCE_DIR}/../include
 	${CMAKE_CURRENT_SOURCE_DIR}
 	${OpenCV_INCLUDE_DIRS}
-	${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
 )
 
 INCLUDE(${QT_USE_FILE})
@@ -106,30 +40,30 @@ ENDIF(WIN32)
 
 # create an executable file
 IF(APPLE AND BUILD_AS_BUNDLE)
-  ADD_EXECUTABLE(find_object MACOSX_BUNDLE ${SRC_FILES})
+  ADD_EXECUTABLE(find_object_app MACOSX_BUNDLE main.cpp)
 ELSEIF(MINGW)
-  ADD_EXECUTABLE(find_object WIN32 ${SRC_FILES})
+  ADD_EXECUTABLE(find_object_app WIN32 main.cpp)
 ELSE()
-  ADD_EXECUTABLE(find_object ${SRC_FILES})
+  ADD_EXECUTABLE(find_object_app main.cpp)
 ENDIF()
 # Linking with Qt libraries
-TARGET_LINK_LIBRARIES(find_object ${LIBRARIES})
+TARGET_LINK_LIBRARIES(find_object_app find_object ${LIBRARIES})
 
 IF(APPLE AND BUILD_AS_BUNDLE)
-  SET_TARGET_PROPERTIES(find_object PROPERTIES
+  SET_TARGET_PROPERTIES(find_object_app PROPERTIES
     OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
 ELSEIF(WIN32)
-  SET_TARGET_PROPERTIES(find_object PROPERTIES
+  SET_TARGET_PROPERTIES(find_object_app PROPERTIES
     OUTPUT_NAME ${PROJECT_NAME})
 ELSE()
-  SET_TARGET_PROPERTIES(find_object PROPERTIES
+  SET_TARGET_PROPERTIES(find_object_app PROPERTIES
     OUTPUT_NAME ${PROJECT_PREFIX})
 ENDIF()
 
 #---------------------------
 # Installation stuff
 #--------------------------- 
-INSTALL(TARGETS find_object
+INSTALL(TARGETS find_object_app
         RUNTIME DESTINATION bin COMPONENT runtime
         BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
         
diff --git a/app/main.cpp b/app/main.cpp
index 72f8b14f..b4882f35 100644
--- a/app/main.cpp
+++ b/app/main.cpp
@@ -1,12 +1,12 @@
 #include <QtGui/QApplication>
 #include <QtCore/QDir>
 #include <QtCore/QFile>
-#include "MainWindow.h"
-#include "Settings.h"
-#include "FindObject.h"
-#include "Camera.h"
-#include "TcpServer.h"
-#include "utilite/ULogger.h"
+#include "find_object/MainWindow.h"
+#include "find_object/Settings.h"
+#include "find_object/FindObject.h"
+#include "find_object/Camera.h"
+#include "find_object/TcpServer.h"
+#include "find_object/utilite/ULogger.h"
 
 bool running = true;
 
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
index c38f8eb0..f2149496 100644
--- a/example/CMakeLists.txt
+++ b/example/CMakeLists.txt
@@ -1,32 +1,12 @@
-### Qt Gui stuff ###
-SET(headers_ui 
-	../src/ObjWidget.h
-	../src/Camera.h
-	../src/CameraTcpClient.h
-)
-#This will generate moc_* for Qt
-QT4_WRAP_CPP(moc_srcs ${headers_ui})
-### Qt Gui stuff  end###
 
 SET(SRC_FILES
     main.cpp
-    ../src/ObjWidget.cpp
-    ../src/KeypointItem.cpp
-    ../src/QtOpenCV.cpp
-    ../src/Settings.cpp
-    ../src/Camera.cpp
-    ../src/CameraTcpClient.cpp
-    ../src/utilite/UDirectory.cpp
-    ../src/utilite/UFile.cpp
-    ../src/utilite/ULogger.cpp
-    ../src/utilite/UConversion.cpp
-    ${moc_srcs} 
 )
 
 SET(INCLUDE_DIRS
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${OpenCV_INCLUDE_DIRS}
-	${CMAKE_CURRENT_SOURCE_DIR}/../src
+	${CMAKE_CURRENT_SOURCE_DIR}/../include
 )
 
 INCLUDE(${QT_USE_FILE})
@@ -42,7 +22,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # Add binary called "example" that is built from the source file "main.cpp".
 # The extension is automatically found.
 ADD_EXECUTABLE(example ${SRC_FILES})
-TARGET_LINK_LIBRARIES(example ${LIBRARIES})
+TARGET_LINK_LIBRARIES(example find_object ${LIBRARIES})
 
 SET_TARGET_PROPERTIES( example 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)
diff --git a/example/main.cpp b/example/main.cpp
index ce33f1c4..36ec3a5c 100644
--- a/example/main.cpp
+++ b/example/main.cpp
@@ -19,9 +19,9 @@
 #include <opencv2/nonfree/features2d.hpp>
 #include <opencv2/calib3d/calib3d.hpp> // for homography
 
-// From this project (see src folder)
-#include "ObjWidget.h"
-#include "QtOpenCV.h"
+// From this project
+#include "find_object/ObjWidget.h"
+#include "find_object/QtOpenCV.h"
 
 void showUsage()
 {
diff --git a/imagesTcpServer/CMakeLists.txt b/imagesTcpServer/CMakeLists.txt
index 16ddc522..15321991 100644
--- a/imagesTcpServer/CMakeLists.txt
+++ b/imagesTcpServer/CMakeLists.txt
@@ -1,7 +1,5 @@
 ### Qt Gui stuff ###
 SET(headers_ui 
-	../src/Camera.h
-	../src/CameraTcpClient.h
 	ImagesTcpServer.h
 )
 #This will generate moc_* for Qt
@@ -9,23 +7,15 @@ QT4_WRAP_CPP(moc_srcs ${headers_ui})
 ### Qt Gui stuff  end###
 
 SET(SRC_FILES
-	../src/Camera.cpp
-	../src/CameraTcpClient.cpp
-	../src/Settings.cpp
-	../src/QtOpenCV.cpp
-	../src/utilite/UDirectory.cpp
-	../src/utilite/UFile.cpp
-	../src/utilite/ULogger.cpp
-	../src/utilite/UConversion.cpp
     ImagesTcpServer.cpp
     main.cpp
     ${moc_srcs} 
 )
 
 SET(INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}/../include
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${OpenCV_INCLUDE_DIRS}
-    ../src
 )
 
 INCLUDE(${QT_USE_FILE})
@@ -41,7 +31,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # Add binary called "example" that is built from the source file "main.cpp".
 # The extension is automatically found.
 ADD_EXECUTABLE(imagesTcpServer ${SRC_FILES})
-TARGET_LINK_LIBRARIES(imagesTcpServer ${LIBRARIES})
+TARGET_LINK_LIBRARIES(imagesTcpServer find_object ${LIBRARIES})
 
 SET_TARGET_PROPERTIES( imagesTcpServer 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesTcpServer)
diff --git a/imagesTcpServer/ImagesTcpServer.cpp b/imagesTcpServer/ImagesTcpServer.cpp
index 70884e4d..f56264ec 100644
--- a/imagesTcpServer/ImagesTcpServer.cpp
+++ b/imagesTcpServer/ImagesTcpServer.cpp
@@ -5,13 +5,14 @@
  *      Author: mathieu
  */
 
+#include "find_object/Settings.h"
+#include "find_object/QtOpenCV.h"
+
 #include "ImagesTcpServer.h"
 
 #include <QtNetwork/QNetworkInterface>
 #include <QtNetwork/QTcpSocket>
 #include <QtGui/QTransform>
-#include "Settings.h"
-#include "QtOpenCV.h"
 
 ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
 	QTcpServer(parent)
diff --git a/imagesTcpServer/ImagesTcpServer.h b/imagesTcpServer/ImagesTcpServer.h
index e0c0a246..f66ce4da 100644
--- a/imagesTcpServer/ImagesTcpServer.h
+++ b/imagesTcpServer/ImagesTcpServer.h
@@ -8,7 +8,7 @@
 #ifndef TCPCLIENT_H_
 #define TCPCLIENT_H_
 
-#include "Camera.h"
+#include "find_object/Camera.h"
 #include <QtNetwork/QTcpServer>
 
 class ImagesTcpServer : public QTcpServer
diff --git a/src/Camera.h b/include/find_object/Camera.h
similarity index 82%
rename from src/Camera.h
rename to include/find_object/Camera.h
index 0174f732..425bb837 100644
--- a/src/Camera.h
+++ b/include/find_object/Camera.h
@@ -5,13 +5,16 @@
 #ifndef CAMERA_H_
 #define CAMERA_H_
 
+#include "find_object/FindObjectExp.h" // DLL export/import defines
+
 #include <opencv2/highgui/highgui.hpp>
 #include <QtCore/QObject>
 #include <QtCore/QTimer>
 #include <QtGui/QImage>
-#include "CameraTcpClient.h"
 
-class Camera : public QObject {
+class CameraTcpClient;
+
+class FINDOBJECT_EXP Camera : public QObject {
 	Q_OBJECT
 public:
 	Camera(QObject * parent = 0);
@@ -42,7 +45,7 @@ private:
 	QTimer cameraTimer_;
 	QList<std::string> images_;
 	unsigned int currentImageIndex_;
-	CameraTcpClient cameraTcpClient_;
+	CameraTcpClient * cameraTcpClient_;
 };
 
 #endif /* CAMERA_H_ */
diff --git a/src/FindObject.h b/include/find_object/FindObject.h
similarity index 96%
rename from src/FindObject.h
rename to include/find_object/FindObject.h
index 715be113..25f81ab4 100644
--- a/src/FindObject.h
+++ b/include/find_object/FindObject.h
@@ -8,6 +8,8 @@
 #ifndef FINDOBJECT_H_
 #define FINDOBJECT_H_
 
+#include "find_object/FindObjectExp.h" // DLL export/import defines
+
 #include <QtCore/QObject>
 #include <QtCore/QString>
 #include <QtCore/QMap>
@@ -24,7 +26,7 @@ class Vocabulary;
 class KeypointDetector;
 class DescriptorExtractor;
 
-class FindObject : public QObject
+class FINDOBJECT_EXP FindObject : public QObject
 {
 	Q_OBJECT;
 
diff --git a/include/find_object/FindObjectExp.h b/include/find_object/FindObjectExp.h
new file mode 100644
index 00000000..8a40a76f
--- /dev/null
+++ b/include/find_object/FindObjectExp.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef FINDOBJECTEXP_H
+#define FINDOBJECTEXP_H
+
+#if defined(_WIN32)
+  #if defined(find_object_EXPORTS)
+    #define FINDOBJECT_EXP   __declspec( dllexport )
+  #else
+    #define FINDOBJECT_EXP   __declspec( dllimport )
+  #endif
+#else
+  #define FINDOBJECT_EXP
+#endif
+
+#endif // RTABMAPEXP_H
diff --git a/src/MainWindow.h b/include/find_object/MainWindow.h
similarity index 95%
rename from src/MainWindow.h
rename to include/find_object/MainWindow.h
index 16ad51ff..9864a75b 100644
--- a/src/MainWindow.h
+++ b/include/find_object/MainWindow.h
@@ -5,6 +5,8 @@
 #ifndef MAINWINDOW_H_
 #define MAINWINDOW_H_
 
+#include "find_object/FindObjectExp.h" // DLL export/import defines
+
 #include <QtGui/QMainWindow>
 #include <QtCore/QSet>
 #include <QtCore/QTimer>
@@ -31,7 +33,7 @@ namespace rtabmap
 class PdfPlotCurve;
 }
 
-class MainWindow : public QMainWindow
+class FINDOBJECT_EXP MainWindow : public QMainWindow
 {
 	Q_OBJECT
 
diff --git a/src/ObjWidget.h b/include/find_object/ObjWidget.h
similarity index 96%
rename from src/ObjWidget.h
rename to include/find_object/ObjWidget.h
index c77d1674..384052af 100644
--- a/src/ObjWidget.h
+++ b/include/find_object/ObjWidget.h
@@ -5,6 +5,8 @@
 #ifndef OBJWIDGET_H_
 #define OBJWIDGET_H_
 
+#include "find_object/FindObjectExp.h" // DLL export/import defines
+
 #include <opencv2/features2d/features2d.hpp>
 #include <QtGui/QWidget>
 #include <QtCore/QMultiMap>
@@ -19,7 +21,7 @@ class QGraphicsRectItem;
 class QGraphicsItem;
 class QLabel;
 
-class ObjWidget : public QWidget
+class FINDOBJECT_EXP ObjWidget : public QWidget
 {
 	Q_OBJECT
 
diff --git a/include/find_object/QtOpenCV.h b/include/find_object/QtOpenCV.h
new file mode 100644
index 00000000..b97c7a60
--- /dev/null
+++ b/include/find_object/QtOpenCV.h
@@ -0,0 +1,25 @@
+/*
+ * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+ */
+
+#ifndef QTOPENCV_H
+#define QTOPENCV_H
+
+#include "find_object/FindObjectExp.h" // DLL export/import defines
+
+#include <QtGui/QImage>
+#include <opencv2/core/core.hpp>
+
+// Convert OpenCV matrix to QImage
+QImage FINDOBJECT_EXP cvtCvMat2QImage(const cv::Mat & image, bool isBgr = true);
+
+// Convert QImage to OpenCV matrix
+cv::Mat FINDOBJECT_EXP cvtQImage2CvMat(const QImage & image);
+
+// Convert IplImage to QImage
+QImage FINDOBJECT_EXP cvtIplImage2QImage(const IplImage * image);
+
+// Convert QImage to IplImage
+IplImage * FINDOBJECT_EXP cvtQImage2IplImage(const QImage & image);
+
+#endif // QTOPENCV_H
diff --git a/src/Settings.h b/include/find_object/Settings.h
similarity index 99%
rename from src/Settings.h
rename to include/find_object/Settings.h
index f229bbdd..27bca6c8 100644
--- a/src/Settings.h
+++ b/include/find_object/Settings.h
@@ -5,6 +5,8 @@
 #ifndef SETTINGS_H_
 #define SETTINGS_H_
 
+#include "find_object/FindObjectExp.h" // DLL export/import defines
+
 #include <QtCore/QMap>
 #include <QtCore/QVariant>
 #include <QtCore/QByteArray>
@@ -55,7 +57,7 @@ typedef unsigned int uint;
 		Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME;
 // MACRO END
 
-class Settings
+class FINDOBJECT_EXP Settings
 {
 	PARAMETER(Camera, 1deviceId, int, 0, "Device ID (default 0).");
 	PARAMETER(Camera, 2imageWidth, int, 640, "Image width (0 means default width from camera).");
diff --git a/src/TcpServer.h b/include/find_object/TcpServer.h
similarity index 80%
rename from src/TcpServer.h
rename to include/find_object/TcpServer.h
index 178628fc..65be488b 100644
--- a/src/TcpServer.h
+++ b/include/find_object/TcpServer.h
@@ -8,11 +8,13 @@
 #ifndef TCPSERVER_H_
 #define TCPSERVER_H_
 
+#include "find_object/FindObjectExp.h" // DLL export/import defines
+
 #include <QtNetwork/QTcpServer>
 
 class QNetworkSession;
 
-class TcpServer : public QTcpServer
+class FINDOBJECT_EXP TcpServer : public QTcpServer
 {
 	Q_OBJECT
 
diff --git a/src/utilite/UDestroyer.h b/include/find_object/utilite/UDestroyer.h
similarity index 100%
rename from src/utilite/UDestroyer.h
rename to include/find_object/utilite/UDestroyer.h
diff --git a/src/utilite/ULogger.h b/include/find_object/utilite/ULogger.h
similarity index 95%
rename from src/utilite/ULogger.h
rename to include/find_object/utilite/ULogger.h
index ff362b43..93943d96 100644
--- a/src/utilite/ULogger.h
+++ b/include/find_object/utilite/ULogger.h
@@ -20,10 +20,10 @@
 #ifndef ULOGGER_H
 #define ULOGGER_H
 
-//#include "utilite/UtiLiteExp.h" // DLL export/import defines
+#include "find_object/FindObjectExp.h" // DLL export/import defines
 
-#include "utilite/UMutex.h"
-#include "utilite/UDestroyer.h"
+#include "find_object/utilite/UMutex.h"
+#include "find_object/utilite/UDestroyer.h"
 
 #include <stdio.h>
 #include <time.h>
@@ -190,7 +190,7 @@
  * @see UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL()
  *
  */
-class ULogger
+class FINDOBJECT_EXP ULogger
 {
 
 public:
diff --git a/src/utilite/UMutex.h b/include/find_object/utilite/UMutex.h
similarity index 93%
rename from src/utilite/UMutex.h
rename to include/find_object/utilite/UMutex.h
index bc4a088b..bb1fceaf 100644
--- a/src/utilite/UMutex.h
+++ b/include/find_object/utilite/UMutex.h
@@ -23,7 +23,7 @@
 #include <errno.h>
 
 #ifdef WIN32
-  #include "utilite/UWin32.h"
+  #include "find_object/utilite/UWin32.h"
 #else
   #include <pthread.h>
 #endif
diff --git a/src/utilite/UWin32.h b/include/find_object/utilite/UWin32.h
similarity index 96%
rename from src/utilite/UWin32.h
rename to include/find_object/utilite/UWin32.h
index 19bb1048..49d02b69 100644
--- a/src/utilite/UWin32.h
+++ b/include/find_object/utilite/UWin32.h
@@ -9,8 +9,6 @@
 #ifndef _U_Win32_
 #define _U_Win32_
 
-#include "utilite/UtiLiteExp.h"
-
   #if !defined(_WINDOWS_)
   // WIN32 Excludes
   #ifdef WIN32_LEAN_AND_MEAN
diff --git a/src/AddObjectDialog.cpp b/src/AddObjectDialog.cpp
index c86388f7..f9d2af14 100644
--- a/src/AddObjectDialog.cpp
+++ b/src/AddObjectDialog.cpp
@@ -2,15 +2,16 @@
  * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  */
 
+#include "find_object/Camera.h"
+#include "find_object/Settings.h"
+#include "find_object/utilite/ULogger.h"
+#include "find_object/ObjWidget.h"
+#include "find_object/QtOpenCV.h"
+
 #include "AddObjectDialog.h"
 #include "ui_addObjectDialog.h"
-#include "ObjWidget.h"
 #include "KeypointItem.h"
-#include "Camera.h"
-#include "QtOpenCV.h"
-#include "Settings.h"
 #include "ObjSignature.h"
-#include "utilite/ULogger.h"
 
 #include <stdio.h>
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 00000000..b2ddb76d
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,95 @@
+
+
+### Qt Gui stuff ###
+SET(headers_ui 
+	../include/${PROJECT_PREFIX}/MainWindow.h
+	../include/${PROJECT_PREFIX}/FindObject.h
+	../include/${PROJECT_PREFIX}/Camera.h
+	../include/${PROJECT_PREFIX}/TcpServer.h
+	../include/${PROJECT_PREFIX}/ObjWidget.h
+	./AddObjectDialog.h
+	./CameraTcpClient.h
+	./ParametersToolBox.h
+	./AboutDialog.h
+	./RectItem.h
+	./rtabmap/PdfPlot.h
+	./utilite/UPlot.h
+)
+
+SET(uis
+    ./ui/mainWindow.ui
+    ./ui/addObjectDialog.ui
+    ./ui/aboutDialog.ui
+)
+
+SET(qrc 
+    ./resources.qrc
+)
+
+# generate rules for building source files from the resources
+QT4_ADD_RESOURCES(srcs_qrc ${qrc})
+
+#Generate .h files from the .ui files
+QT4_WRAP_UI(moc_uis ${uis})
+
+#This will generate moc_* for Qt
+QT4_WRAP_CPP(moc_srcs ${headers_ui})
+### Qt Gui stuff  end###
+
+
+
+
+SET(SRC_FILES 
+	./MainWindow.cpp
+	./AddObjectDialog.cpp
+	./KeypointItem.cpp
+	./RectItem.cpp
+	./QtOpenCV.cpp
+	./Camera.cpp
+	./CameraTcpClient.cpp
+	./ParametersToolBox.cpp
+	./Settings.cpp
+	./ObjWidget.cpp
+	./FindObject.cpp
+	./AboutDialog.cpp
+	./TcpServer.cpp
+	./Vocabulary.cpp
+	./utilite/ULogger.cpp
+	./utilite/UPlot.cpp
+	./utilite/UDirectory.cpp
+	./utilite/UFile.cpp
+	./utilite/UConversion.cpp
+	./rtabmap/PdfPlot.cpp
+	${moc_srcs} 
+	${moc_uis} 
+	${srcs_qrc}
+)
+
+SET(INCLUDE_DIRS
+	${CMAKE_CURRENT_SOURCE_DIR}/../include
+	${CMAKE_CURRENT_SOURCE_DIR}
+	${OpenCV_INCLUDE_DIRS}
+	${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
+)
+
+INCLUDE(${QT_USE_FILE})
+
+SET(LIBRARIES
+    ${QT_LIBRARIES} 
+    ${OpenCV_LIBS} 
+)
+
+#include files
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+# create a library from the source files
+ADD_LIBRARY(find_object ${SRC_FILES})
+# Linking with Qt libraries
+TARGET_LINK_LIBRARIES(find_object ${LIBRARIES})
+
+INSTALL(TARGETS find_object
+        RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+        LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
+        ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
+        
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ DESTINATION "${INSTALL_INCLUDE_DIR}" COMPONENT devel FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE)
diff --git a/src/Camera.cpp b/src/Camera.cpp
index 9087e77d..c1759a7e 100644
--- a/src/Camera.cpp
+++ b/src/Camera.cpp
@@ -2,18 +2,21 @@
  * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  */
 
-#include "Camera.h"
+#include "find_object/Camera.h"
+#include "find_object/Settings.h"
+#include "find_object/utilite/ULogger.h"
+#include "find_object/QtOpenCV.h"
+
 #include <stdio.h>
 #include <opencv2/imgproc/imgproc.hpp>
-#include "Settings.h"
 #include <QtCore/QFile>
 #include "utilite/UDirectory.h"
-#include "utilite/ULogger.h"
-#include "QtOpenCV.h"
+#include "CameraTcpClient.h"
 
 Camera::Camera(QObject * parent) :
 	QObject(parent),
-	currentImageIndex_(0)
+	currentImageIndex_(0),
+	cameraTcpClient_(new CameraTcpClient(this))
 {
 	qRegisterMetaType<cv::Mat>("cv::Mat");
 	connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage()));
@@ -30,7 +33,7 @@ void Camera::stop()
 	capture_.release();
 	images_.clear();
 	currentImageIndex_ = 0;
-	cameraTcpClient_.close();
+	cameraTcpClient_->close();
 }
 
 void Camera::pause()
@@ -92,24 +95,24 @@ void Camera::takeImage()
 	}
 	else
 	{
-		img = cameraTcpClient_.getImage();
-		if(cameraTcpClient_.imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
+		img = cameraTcpClient_->getImage();
+		if(cameraTcpClient_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
 		{
-			UWARN("%d images buffered so far...", cameraTcpClient_.imagesBuffered());
+			UWARN("%d images buffered so far...", cameraTcpClient_->imagesBuffered());
 		}
-		while(img.empty() && cameraTcpClient_.waitForReadyRead())
+		while(img.empty() && cameraTcpClient_->waitForReadyRead())
 		{
-			img = cameraTcpClient_.getImage();
+			img = cameraTcpClient_->getImage();
 		}
 		if(img.empty())
 		{
-			if(!cameraTcpClient_.waitForConnected())
+			if(!cameraTcpClient_->waitForConnected())
 			{
 				UWARN("Connection is lost, trying to reconnect to server (%s:%d)... (at the rate of the camera: %d ms)",
 						Settings::getCamera_7IP().toStdString().c_str(),
 						Settings::getCamera_8port(),
 						cameraTimer_.interval());
-				cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
+				cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
 			}
 		}
 	}
@@ -143,17 +146,17 @@ void Camera::takeImage()
 
 bool Camera::start()
 {
-	if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen())
+	if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
 	{
 		if(Settings::getCamera_6useTcpCamera())
 		{
-			cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
-			if(!cameraTcpClient_.waitForConnected())
+			cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
+			if(!cameraTcpClient_->waitForConnected())
 			{
 				UWARN("Camera: Cannot connect to server \"%s:%d\"",
 						Settings::getCamera_7IP().toStdString().c_str(),
 						Settings::getCamera_8port());
-				cameraTcpClient_.close();
+				cameraTcpClient_->close();
 			}
 		}
 		else
@@ -212,7 +215,7 @@ bool Camera::start()
 			}
 		}
 	}
-	if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen())
+	if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
 	{
 		UERROR("Camera: Failed to open a capture object!");
 		return false;
diff --git a/src/CameraTcpClient.cpp b/src/CameraTcpClient.cpp
index 8aa7e033..0f03a51f 100644
--- a/src/CameraTcpClient.cpp
+++ b/src/CameraTcpClient.cpp
@@ -5,9 +5,10 @@
  *      Author: mathieu
  */
 
+#include "find_object/Settings.h"
+#include "find_object/utilite/ULogger.h"
+
 #include "CameraTcpClient.h"
-#include "Settings.h"
-#include "utilite/ULogger.h"
 
 CameraTcpClient::CameraTcpClient(QObject *parent) :
 	QTcpSocket(parent),
diff --git a/src/FindObject.cpp b/src/FindObject.cpp
index f6868e97..d8f97210 100644
--- a/src/FindObject.cpp
+++ b/src/FindObject.cpp
@@ -5,11 +5,12 @@
  *      Author: mathieu
  */
 
-#include "FindObject.h"
+#include "find_object/FindObject.h"
+#include "find_object/Settings.h"
+#include "find_object/utilite/ULogger.h"
+
 #include "ObjSignature.h"
-#include "Settings.h"
 #include "utilite/UDirectory.h"
-#include "utilite/ULogger.h"
 #include "Vocabulary.h"
 
 #include <QtCore/QThread>
diff --git a/src/MainWindow.cpp b/src/MainWindow.cpp
index 115bb6d4..f3af9085 100644
--- a/src/MainWindow.cpp
+++ b/src/MainWindow.cpp
@@ -2,21 +2,23 @@
  * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  */
 
-#include "MainWindow.h"
+#include "find_object/MainWindow.h"
+#include "find_object/Camera.h"
+#include "find_object/Settings.h"
+#include "find_object/TcpServer.h"
+#include "find_object/FindObject.h"
+#include "find_object/utilite/ULogger.h"
+#include "find_object/ObjWidget.h"
+#include "find_object/QtOpenCV.h"
+
 #include "AddObjectDialog.h"
 #include "ui_mainWindow.h"
-#include "QtOpenCV.h"
 #include "KeypointItem.h"
 #include "RectItem.h"
-#include "ObjWidget.h"
-#include "Camera.h"
-#include "Settings.h"
 #include "ParametersToolBox.h"
 #include "AboutDialog.h"
-#include "TcpServer.h"
 #include "rtabmap/PdfPlot.h"
 #include "Vocabulary.h"
-#include "FindObject.h"
 #include "ObjSignature.h"
 
 #include <iostream>
@@ -44,7 +46,6 @@
 #include <QtGui/QInputDialog>
 
 #include "utilite/UDirectory.h"
-#include "utilite/ULogger.h"
 
 // Camera ownership transferred
 MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * parent) :
diff --git a/src/ObjWidget.cpp b/src/ObjWidget.cpp
index 1fbdadf9..f7f7f886 100644
--- a/src/ObjWidget.cpp
+++ b/src/ObjWidget.cpp
@@ -2,11 +2,12 @@
  * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  */
 
-#include "ObjWidget.h"
+#include "find_object/Settings.h"
+#include "find_object/utilite/ULogger.h"
+#include "find_object/ObjWidget.h"
+#include "find_object/QtOpenCV.h"
+
 #include "KeypointItem.h"
-#include "QtOpenCV.h"
-#include "Settings.h"
-#include "utilite/ULogger.h"
 
 #include <opencv2/highgui/highgui.hpp>
 
diff --git a/src/ParametersToolBox.cpp b/src/ParametersToolBox.cpp
index a44df3ae..9d0bf747 100644
--- a/src/ParametersToolBox.cpp
+++ b/src/ParametersToolBox.cpp
@@ -2,8 +2,9 @@
  * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  */
 
+#include "find_object/Settings.h"
+
 #include "ParametersToolBox.h"
-#include "Settings.h"
 #include <QtGui/QComboBox>
 #include <QtGui/QDoubleSpinBox>
 #include <QtGui/QLineEdit>
diff --git a/src/QtOpenCV.cpp b/src/QtOpenCV.cpp
index 1f275b20..f0a041c8 100644
--- a/src/QtOpenCV.cpp
+++ b/src/QtOpenCV.cpp
@@ -2,7 +2,7 @@
  * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  */
 
-#include "QtOpenCV.h"
+#include "find_object/QtOpenCV.h"
 #include <opencv2/core/core_c.h>
 #include <stdio.h>
 
diff --git a/src/QtOpenCV.h b/src/QtOpenCV.h
deleted file mode 100644
index 4dfee64b..00000000
--- a/src/QtOpenCV.h
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
- */
-
-#ifndef QTOPENCV_H
-#define QTOPENCV_H
-
-#include <QtGui/QImage>
-#include <opencv2/core/core.hpp>
-
-// Convert OpenCV matrix to QImage
-QImage cvtCvMat2QImage(const cv::Mat & image, bool isBgr = true);
-
-// Convert QImage to OpenCV matrix
-cv::Mat cvtQImage2CvMat(const QImage & image);
-
-// Convert IplImage to QImage
-QImage cvtIplImage2QImage(const IplImage * image);
-
-// Convert QImage to IplImage
-IplImage * cvtQImage2IplImage(const QImage & image);
-
-#endif // QTOPENCV_H
diff --git a/src/Settings.cpp b/src/Settings.cpp
index 1ce2b61c..43a95a44 100644
--- a/src/Settings.cpp
+++ b/src/Settings.cpp
@@ -2,9 +2,10 @@
  * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  */
 
-#include "Settings.h"
-#include "Camera.h"
-#include "utilite/ULogger.h"
+#include "find_object/Camera.h"
+#include "find_object/Settings.h"
+#include "find_object/utilite/ULogger.h"
+
 #include <QtCore/QSettings>
 #include <QtCore/QStringList>
 #include <QtCore/QDir>
diff --git a/src/TcpServer.cpp b/src/TcpServer.cpp
index dcb8fb03..4a960e8d 100644
--- a/src/TcpServer.cpp
+++ b/src/TcpServer.cpp
@@ -5,8 +5,8 @@
  *      Author: mathieu
  */
 
-#include "TcpServer.h"
-#include "utilite/ULogger.h"
+#include "find_object/TcpServer.h"
+#include "find_object/utilite/ULogger.h"
 
 #include <QtNetwork/QNetworkInterface>
 #include <QtNetwork/QTcpSocket>
diff --git a/src/Vocabulary.cpp b/src/Vocabulary.cpp
index 4baf3a79..b6032c60 100644
--- a/src/Vocabulary.cpp
+++ b/src/Vocabulary.cpp
@@ -5,8 +5,9 @@
  *      Author: mathieu
  */
 
+#include "find_object/Settings.h"
+
 #include "Vocabulary.h"
-#include "Settings.h"
 #include <QtCore/QVector>
 #include <stdio.h>
 
diff --git a/src/ui/addObjectDialog.ui b/src/ui/addObjectDialog.ui
index cdf71829..923e3b02 100644
--- a/src/ui/addObjectDialog.ui
+++ b/src/ui/addObjectDialog.ui
@@ -100,7 +100,7 @@
   <customwidget>
    <class>ObjWidget</class>
    <extends>QWidget</extends>
-   <header>ObjWidget.h</header>
+   <header>find_object/ObjWidget.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/src/ui/mainWindow.ui b/src/ui/mainWindow.ui
index 2d51cdbf..fe397987 100644
--- a/src/ui/mainWindow.ui
+++ b/src/ui/mainWindow.ui
@@ -775,7 +775,7 @@
   <customwidget>
    <class>ObjWidget</class>
    <extends>QWidget</extends>
-   <header>ObjWidget.h</header>
+   <header>find_object/ObjWidget.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>
diff --git a/src/utilite/ULogger.cpp b/src/utilite/ULogger.cpp
index 009377c9..06fb2981 100644
--- a/src/utilite/ULogger.cpp
+++ b/src/utilite/ULogger.cpp
@@ -17,7 +17,8 @@
 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#include "utilite/ULogger.h"
+#include "find_object/utilite/ULogger.h"
+
 #include "utilite/UConversion.h"
 #include "utilite/UFile.h"
 #include "utilite/UStl.h"