diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 000000000..5f01cfece
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,46 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+PROJECT (gtsam)
+if (NOT CMAKE_INSTALL_PREFIX)
+	set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR} CACHE INTERNAL "" FORCE)
+endif()
+
+set(CMAKE_CXX_FLAGS "-O2 -g -Wall -march=core2 -msse2 -DNDEBUG -DGT_USE_CBLAS -DGT_USE_LAPACK")
+
+INCLUDE_DIRECTORIES ("${CMAKE_SOURCE_DIR}")
+
+set(BOOST_ROOT ${BOOST_ROOT} CACHE PATH "The boost root path")
+INCLUDE_DIRECTORIES ("${BOOST_ROOT}")
+LINK_DIRECTORIES ("${BOOST_ROOT}/stage/lib")
+
+set(CCOLAMD_ROOT ${CCOLAMD_ROOT} CACHE PATH "The ccolamd root path")
+INCLUDE_DIRECTORIES ("${CCOLAMD_ROOT}")
+LINK_DIRECTORIES ("${CCOLAMD_ROOT}")
+set(libs_support ${libs_support} ccolamd)
+
+
+set(USE_GOTOBLAS2 ${USE_GOTOBLAS2} CACHE BOOL "USE GotoBlas2 or not")
+if (USE_GOTOBLAS2)
+	set(GOTOBLAS2_ROOT ${GOTOBLAS2_ROOT} CACHE PATH "The gotoblas2 root path")
+	INCLUDE_DIRECTORIES ("${GOTOBLAS2_ROOT}")
+	set(libs_support ${libs_support} goto2)
+else ()
+	set(libs_support ${libs_support} cblas lapack atlas)	
+endif ()
+
+set(BUILD_EXAMPLES TRUE CACHE BOOL "Turn on the flag to build examples")
+set(BUILD_TESTS TRUE CACHE BOOL "Turn on the flag to build tests")
+set(BUILD_TIMINGS TRUE CACHE BOOL "Turn on the flag to build timings")
+
+enable_testing()
+add_subdirectory(CppUnitLite)
+add_subdirectory(gtsam)
+
+set(libs_gtsam base geometry inference linear nonlinear slam)
+
+add_subdirectory(examples)
+add_subdirectory(tests)
+
+
+
+
diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt
new file mode 100644
index 000000000..6dd23b55a
--- /dev/null
+++ b/CppUnitLite/CMakeLists.txt
@@ -0,0 +1,15 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+SET(lib_target "CppUnitLite")
+FILE(GLOB cppunitlite_src "./*.cpp")
+
+############################# COMPILE LIBRARY
+ADD_LIBRARY(${lib_target} STATIC ${cppunitlite_src})
+#TARGET_LINK_LIBRARIES(${lib_target})
+
+############################# INSTALL
+
+#message(STATUS "install ${lib_target} to ${CMAKE_SOURCE_DIR}/lib") 
+#install(TARGETS ${lib_target}
+#	    ARCHIVE DESTINATION lib COMPONENT dev
+#	    LIBRARY DESTINATION lib COMPONENT dev)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
new file mode 100644
index 000000000..79d7cc466
--- /dev/null
+++ b/examples/CMakeLists.txt
@@ -0,0 +1,20 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+set(libs_support ${libs_support} CppUnitLite ${libs_gtsam})
+
+if (BUILD_EXAMPLES)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};SimpleRotation")
+	set(PROGRAMS "${PROGRAMS};PlanarSLAMExample_easy")
+	set(PROGRAMS "${PROGRAMS};PlanarSLAMSelfContained_advanced")
+	set(PROGRAMS "${PROGRAMS};Pose2SLAMExample_easy")
+	set(PROGRAMS "${PROGRAMS};Pose2SLAMExample_advanced")
+#	set(PROGRAMS "${PROGRAMS};Pose2SLAMwSPCG_easy")
+#	set(PROGRAMS "${PROGRAMS};Pose2SLAMwSPCG_advanced")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "${program}.cpp")
+		target_link_libraries(${program} ${libs_support})
+	endforeach(program)
+endif ()
+
+
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
new file mode 100644
index 000000000..f34efdb15
--- /dev/null
+++ b/gtsam/CMakeLists.txt
@@ -0,0 +1,12 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+set(lib_target "gtsam")
+
+add_subdirectory(base)
+add_subdirectory(geometry)
+add_subdirectory(inference)
+add_subdirectory(linear)
+add_subdirectory(nonlinear)
+add_subdirectory(slam)
+
+#add_library(${lib_target} base geometry inference linear nonlinear slam)
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
new file mode 100644
index 000000000..4f273fdd7
--- /dev/null
+++ b/gtsam/base/CMakeLists.txt
@@ -0,0 +1,54 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+SET(lib_target "base")
+FILE(GLOB base_src "./*.cpp")
+
+############################# COMPILE LIBRARY
+ADD_LIBRARY(${lib_target} STATIC ${base_src})
+#TARGET_LINK_LIBRARIES(${lib_target})
+
+############################# INSTALL
+
+#message(STATUS "install ${lib_target} to ${CMAKE_SOURCE_DIR}/lib") 
+#install(TARGETS ${lib_target}
+#	    ARCHIVE DESTINATION lib COMPONENT dev
+	    #LIBRARY DESTINATION lib COMPONENT dev)
+
+# TESTS
+
+set(libs_support ${libs_support} CppUnitLite)
+
+if (BUILD_TESTS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};testBTree")
+	set(PROGRAMS "${PROGRAMS};testCholesky")
+	set(PROGRAMS "${PROGRAMS};testDebug")
+	set(PROGRAMS "${PROGRAMS};testDenseQRUtil")
+	set(PROGRAMS "${PROGRAMS};testDSFVector")
+	set(PROGRAMS "${PROGRAMS};testFixedVector")
+	set(PROGRAMS "${PROGRAMS};testLieScalar")
+	set(PROGRAMS "${PROGRAMS};testLieVector")
+	set(PROGRAMS "${PROGRAMS};testMatrix")
+	set(PROGRAMS "${PROGRAMS};testNumericalDerivative")
+	set(PROGRAMS "${PROGRAMS};testTestableAssertions")
+	set(PROGRAMS "${PROGRAMS};testVector")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+		add_test(${program} ${program})
+	endforeach(program)
+endif ()
+
+if (BUILD_TIMINGS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};timeMatrix")
+	set(PROGRAMS "${PROGRAMS};timeublas")
+	set(PROGRAMS "${PROGRAMS};timeTest")
+	set(PROGRAMS "${PROGRAMS};timeVirtual")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+	endforeach(program)
+endif ()
+
+
diff --git a/gtsam/geometry/CMakeLists.txt b/gtsam/geometry/CMakeLists.txt
new file mode 100644
index 000000000..e55fa5b8f
--- /dev/null
+++ b/gtsam/geometry/CMakeLists.txt
@@ -0,0 +1,47 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+set (lib_target "geometry")
+file (GLOB geometry_src "./*.cpp")
+
+############################# COMPILE LIBRARY
+
+add_library (${lib_target} STATIC ${geometry_src})
+target_link_libraries (${lib_target} base)
+
+# TESTS
+
+set(libs_support ${libs_support} CppUnitLite)
+
+if (BUILD_TESTS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};testCal3Bundler")
+	set(PROGRAMS "${PROGRAMS};testCal3DS2")
+	set(PROGRAMS "${PROGRAMS};testCal3_S2")
+	set(PROGRAMS "${PROGRAMS};testCalibratedCamera")
+	set(PROGRAMS "${PROGRAMS};testFundamental")
+	set(PROGRAMS "${PROGRAMS};testHomography2")
+	set(PROGRAMS "${PROGRAMS};testPoint2")
+	set(PROGRAMS "${PROGRAMS};testPoint3")
+	set(PROGRAMS "${PROGRAMS};testRot2")
+	set(PROGRAMS "${PROGRAMS};testRot3")
+	set(PROGRAMS "${PROGRAMS};testSimpleCamera")
+	set(PROGRAMS "${PROGRAMS};testStereoCamera")
+	set(PROGRAMS "${PROGRAMS};testTensors")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+		add_test(${program} ${program})
+	endforeach(program)
+endif ()
+
+if (BUILD_TIMINGS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};timeCalibratedCamera")
+	set(PROGRAMS "${PROGRAMS};timeRot3")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+	endforeach(program)
+endif ()
+
+
diff --git a/gtsam/inference/CMakeLists.txt b/gtsam/inference/CMakeLists.txt
new file mode 100644
index 000000000..8250d419f
--- /dev/null
+++ b/gtsam/inference/CMakeLists.txt
@@ -0,0 +1,48 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+set (lib_target "inference")
+file (GLOB inference_src "./*.cpp")
+
+############################# COMPILE LIBRARY
+add_library (${lib_target} STATIC ${inference_src})
+target_link_libraries (${lib_target} base geometry ccolamd)
+
+
+# TESTS
+set(libs_support ${libs_support} CppUnitLite)
+
+
+if (BUILD_TESTS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};testBayesTree")
+#	set(PROGRAMS "${PROGRAMS};testBinaryBayesNet")
+	set(PROGRAMS "${PROGRAMS};testClusterTree")
+	set(PROGRAMS "${PROGRAMS};testConditional")
+	set(PROGRAMS "${PROGRAMS};testEliminationTree")
+	set(PROGRAMS "${PROGRAMS};testFactorGraph")
+	set(PROGRAMS "${PROGRAMS};testInference")
+	set(PROGRAMS "${PROGRAMS};testISAM")
+	set(PROGRAMS "${PROGRAMS};testJunctionTree")
+	set(PROGRAMS "${PROGRAMS};testSymbolicBayesNet")
+	set(PROGRAMS "${PROGRAMS};testSymbolicFactor")
+	set(PROGRAMS "${PROGRAMS};testSymbolicFactorGraph")
+	set(PROGRAMS "${PROGRAMS};testVariableIndex")
+	set(PROGRAMS "${PROGRAMS};testVariableSlots")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+		add_test(${program} ${program})
+	endforeach(program)
+endif ()
+
+if (BUILD_TIMINGS)
+	set(PROGRAMS "")
+#	set(PROGRAMS "${PROGRAMS};timeSymbolMaps")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+	endforeach(program)
+endif ()
+
+
+
diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt
new file mode 100644
index 000000000..e3f502c2d
--- /dev/null
+++ b/gtsam/linear/CMakeLists.txt
@@ -0,0 +1,49 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+set (lib_target "linear")
+#file (GLOB linear_src "./*.cpp")
+set (linear_src NoiseModel.cpp Errors.cpp Sampler.cpp GaussianSequentialSolver.cpp GaussianMultifrontalSolver.cpp 
+				JacobianFactor.cpp HessianFactor.cpp GaussianFactor.cpp GaussianFactorGraph.cpp 
+				GaussianJunctionTree.cpp  GaussianConditional.cpp GaussianBayesNet.cpp GaussianISAM.cpp)
+
+############################# COMPILE LIBRARY
+add_library (${lib_target} STATIC ${linear_src})
+target_link_libraries(${lib_target} base inference ccolamd)
+
+# TESTS
+set(libs_support ${libs_support} CppUnitLite)
+
+if (BUILD_TESTS)
+	set(PROGRAMS "")
+#	set(PROGRAMS "${PROGRAMS};testBayesNetPreconditioner")
+	set(PROGRAMS "${PROGRAMS};testErrors")
+	set(PROGRAMS "${PROGRAMS};testGaussianConditional")
+	set(PROGRAMS "${PROGRAMS};testGaussianFactor")
+	set(PROGRAMS "${PROGRAMS};testGaussianFactorGraph")
+	set(PROGRAMS "${PROGRAMS};testGaussianJunctionTree")
+	set(PROGRAMS "${PROGRAMS};testHessianFactor")
+	set(PROGRAMS "${PROGRAMS};testNoiseModel")
+	set(PROGRAMS "${PROGRAMS};testSampler")
+#	set(PROGRAMS "${PROGRAMS};testVectorBTree")
+#	set(PROGRAMS "${PROGRAMS};testVectorMap")
+	set(PROGRAMS "${PROGRAMS};testVectorValues")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+		add_test(${program} ${program})
+	endforeach(program)
+endif ()
+
+if (BUILD_TIMINGS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};timeFactorOverhead")
+	set(PROGRAMS "${PROGRAMS};timeGaussianFactor")
+	set(PROGRAMS "${PROGRAMS};timeSLAMlike")
+#	set(PROGRAMS "${PROGRAMS};timeVectorValues")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+	endforeach(program)
+endif ()
+
+
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
new file mode 100644
index 000000000..025cd6cfb
--- /dev/null
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -0,0 +1,32 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+set (lib_target "nonlinear")
+file (GLOB nonlinear_src "./*.cpp")
+
+############################# COMPILE LIBRARY
+add_library (${lib_target} STATIC ${nonlinear_src})
+
+# TESTS
+set(libs_support ${libs_support} CppUnitLite base)
+
+if (BUILD_TESTS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};testKey")
+	set(PROGRAMS "${PROGRAMS};testLieValues")
+	set(PROGRAMS "${PROGRAMS};testOrdering")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+		add_test(${program} ${program})
+	endforeach(program)
+endif ()
+
+if (BUILD_TIMINGS)
+	set(PROGRAMS "")
+	foreach(program ${PROGRAMS})
+		add_executable(${program} "tests/${program}.cpp")
+		target_link_libraries(${program} ${lib_target} ${libs_support})
+	endforeach(program)
+endif ()
+
+
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
new file mode 100644
index 000000000..e4f18a255
--- /dev/null
+++ b/tests/CMakeLists.txt
@@ -0,0 +1,46 @@
+CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
+
+# TESTS
+
+set(libs_support ${libs_support} CppUnitLite ${libs_gtsam})
+
+if (BUILD_TESTS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};testGaussianBayesNet")
+	set(PROGRAMS "${PROGRAMS};testGaussianFactor")
+	set(PROGRAMS "${PROGRAMS};testGaussianFactorGraph")
+	set(PROGRAMS "${PROGRAMS};testGaussianISAM")
+	set(PROGRAMS "${PROGRAMS};testGraph")
+	set(PROGRAMS "${PROGRAMS};testInference")
+	set(PROGRAMS "${PROGRAMS};testGaussianJunctionTree")
+	set(PROGRAMS "${PROGRAMS};testNonlinearEquality")
+	set(PROGRAMS "${PROGRAMS};testNonlinearFactor")
+	set(PROGRAMS "${PROGRAMS};testNonlinearFactorGraph")
+	set(PROGRAMS "${PROGRAMS};testNonlinearOptimizer")
+	set(PROGRAMS "${PROGRAMS};testSymbolicBayesNet")
+	set(PROGRAMS "${PROGRAMS};testSymbolicFactorGraph")
+	set(PROGRAMS "${PROGRAMS};testTupleValues")
+	set(PROGRAMS "${PROGRAMS};testNonlinearISAM")
+	foreach(program ${PROGRAMS})
+		set (program_exe "${program}-global")
+		add_executable(${program_exe} "${program}.cpp")
+		target_link_libraries(${program_exe} ${lib_target} ${libs_support})
+		add_test(${program_exe} ${program_exe})
+	endforeach(program)
+endif ()
+
+
+#check_PROGRAMS += testSerialization
+
+if (BUILD_TIMINGS)
+	set(PROGRAMS "")
+	set(PROGRAMS "${PROGRAMS};timeGaussianFactorGraph")
+	set(PROGRAMS "${PROGRAMS};timeSequentialOnDataset")
+	set(PROGRAMS "${PROGRAMS};timeMultifrontalOnDataset")
+	foreach(program ${PROGRAMS})
+		set (program_exe "${program}-global")
+		add_executable(${program_exe} "${program}.cpp")
+		target_link_libraries(${program_exe} ${lib_target} ${libs_support})
+	endforeach(program)
+endif ()
+