diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4a52bb3b5..74b3ca0a7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,345 +1,345 @@
-
-project(GTSAM CXX C)
-cmake_minimum_required(VERSION 2.6)
-
-# Set the version number for the library
-set (GTSAM_VERSION_MAJOR 3)
-set (GTSAM_VERSION_MINOR 0)
-set (GTSAM_VERSION_PATCH 0)
-
-
-###############################################################################
-# Gather information, perform checks, set defaults
-
-# Set the default install path to home
-#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library")
-
-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-include(GtsamMakeConfigFile)
-
-# Record the root dir for gtsam - needed during external builds, e.g., ROS
-set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
-message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
-
-# Load build type flags and default to Debug mode
-include(GtsamBuildTypes)
-
-# Use macros for creating tests/timing scripts
-include(GtsamTesting)
-include(GtsamPrinting)
-
-# guard against in-source builds
-if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
-  message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
-endif()
-
-# See whether gtsam_unstable is available (it will be present only if we're using an SVN checkout)
-if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
-    set(GTSAM_UNSTABLE_AVAILABLE 1)
-else()
-    set(GTSAM_UNSTABLE_AVAILABLE 0)
-endif()
-
-
-###############################################################################
-# Set up options
-
-# Configurable Options
-option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)
-option(GTSAM_BUILD_TIMING                "Enable/Disable building of timing scripts" OFF) # These do not currently work
-option(GTSAM_BUILD_EXAMPLES              "Enable/Disable building of examples"       ON)
-if(GTSAM_UNSTABLE_AVAILABLE)
-    option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
-endif()
-option(GTSAM_BUILD_SHARED_LIBRARY        "Enable/Disable building of a shared version of gtsam" ON)
-option(GTSAM_BUILD_STATIC_LIBRARY        "Enable/Disable building of a static version of gtsam" OFF)
-option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
-option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
-option(GTSAM_ROT3_EXPMAP 			 	 "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
-option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF) 
-option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" ON)
-
-# Options relating to MATLAB wrapper
-# TODO: Check for matlab mex binary before handling building of binaries
-option(GTSAM_INSTALL_MATLAB_TOOLBOX      "Enable/Disable installation of matlab toolbox"  OFF)
-option(GTSAM_BUILD_WRAP                  "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
-option(GTSAM_INSTALL_WRAP                "Enable/Disable installation of wrap utility for wrapping other libraries"    ON)
-
-# Check / set dependent variables for MATLAB wrapper
-set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap")
-if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
-	message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
-endif()
-if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
-	message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
-endif()
-
-# Flags for choosing default packaging tools
-set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
-set(CPACK_GENERATOR        "TGZ" CACHE STRING "CPack Default Binary Generator")
-
-# Sanity check building of libraries
-if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
-    message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
-endif()
-
-# Flags to determine whether tests and examples are build during 'make install'
-# Note that these remove the targets from the 'all'
-option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
-option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF)
-
-# Pull in infrastructure
-if (GTSAM_BUILD_TESTS)
-    enable_testing()
-    include(Dart)
-    include(CTest)
-endif()
-
-###############################################################################
-# Find boost
-
-# To change the path for boost, you will need to set:
-# BOOST_ROOT: path to install prefix for boost
-# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
-
-# If using Boost shared libs, set up auto linking for shared libs
-if(MSVC AND NOT Boost_USE_STATIC_LIBS)
-	add_definitions(-DBOOST_ALL_DYN_LINK)
-endif()
-add_definitions(-DBOOST_ALL_NO_LIB)
-
-find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
-
-# Required components
-if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
-    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY OR NOT Boost_REGEX_LIBRARY)
-  message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.")
-endif()
-
-option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
-# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
-set(GTSAM_BOOST_LIBRARIES
-    ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}
-	${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY})
-if (GTSAM_DISABLE_NEW_TIMERS)
-    message("WARNING:  GTSAM timing instrumentation manually disabled")
-    add_definitions(-DGTSAM_DISABLE_NEW_TIMERS)
-else()
-    if(Boost_TIMER_LIBRARY)
-      list(APPEND GTSAM_BOOST_LIBRARIES ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
-    else()
-      message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
-    endif()
-endif()
-
-
-###############################################################################
-# Find TBB
-find_package(TBB)
-
-# Set up variables if we're using TBB
-if(TBB_FOUND AND GTSAM_WITH_TBB)
-	set(GTSAM_USE_TBB 1)  # This will go into config.h
-	set(GTSAM_TBB_LIBRARIES "")
-	if(TBB_DEBUG_LIBRARIES)
-		foreach(lib ${TBB_LIBRARIES})
-			list(APPEND GTSAM_TBB_LIBRARIES optimized "${lib}")
-		endforeach()
-		foreach(lib ${TBB_DEBUG_LIBRARIES})
-			list(APPEND GTSAM_TBB_LIBRARIES debug "${lib}")
-		endforeach()
-	else()
-		set(GTSAM_TBB_LIBRARIES ${TBB_LIBRARIES})
-	endif()
-endif()
-
-
-###############################################################################
-# Option for using system Eigen or GTSAM-bundled Eigen
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
-
-# Switch for using system Eigen or GTSAM-bundled Eigen
-if(GTSAM_USE_SYSTEM_EIGEN)
-	# Use generic Eigen include paths e.g. <Eigen/Core>
-	set(GTSAM_EIGEN_INCLUDE_PREFIX "")
-	
-	find_package(Eigen3 REQUIRED)
-	include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
-else()
-	# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
-	set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
-	
-	# Clear any variables set by FindEigen3
-	if(EIGEN3_INCLUDE_DIR)
-		set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
-	endif()
-endif()
-
-# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
-configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eigen_includes.h)
-
-# Install the configuration file for Eigen
-install(FILES ${CMAKE_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
-
-
-###############################################################################
-# Global compile options
-
-# Include boost - use 'BEFORE' so that a specific boost specified to CMake
-# takes precedence over a system-installed one.
-include_directories(BEFORE ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
-
-# Add includes for source directories 'BEFORE' boost and any system include
-# paths so that the compiler uses GTSAM headers in our source directory instead
-# of any previously installed GTSAM headers.
-include_directories(BEFORE
-  gtsam/3rdparty/UFconfig 
-  gtsam/3rdparty/CCOLAMD/Include
-  ${CMAKE_SOURCE_DIR}
-  ${CMAKE_BINARY_DIR} # So we can include generated config header files
-  CppUnitLite)
-
-if(MSVC)
-	add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS)
-	add_definitions(/wd4251 /wd4275 /wd4251 /wd4661) # Disable non-DLL-exported base class and other warnings
-endif()
-
-if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
-  add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
-endif()   
-
-###############################################################################
-# Add components
-
-# Set default library - static or shared, before adding subdirectories
-if(GTSAM_BUILD_SHARED_LIBRARY)
-	set(gtsam-default gtsam-shared)
-	if(GTSAM_BUILD_UNSTABLE)
-		set(gtsam_unstable-default gtsam_unstable-shared)
-	endif()
-else()
-	set(gtsam-default gtsam-static)
-	if(GTSAM_BUILD_UNSTABLE)
-		set(gtsam_unstable-default gtsam_unstable-static)
-	endif()
-endif()
-
-# Build CppUnitLite
-add_subdirectory(CppUnitLite)
-
-# Build wrap
-if (GTSAM_BUILD_WRAP)
-    add_subdirectory(wrap)
-endif(GTSAM_BUILD_WRAP)
-
-# Build GTSAM library
-add_subdirectory(gtsam)
-
-# Build Tests
-add_subdirectory(tests)
-
-# Build examples
-if (GTSAM_BUILD_EXAMPLES)
-    add_subdirectory(examples)
-endif(GTSAM_BUILD_EXAMPLES)
-
-# Matlab toolbox
-if (GTSAM_INSTALL_MATLAB_TOOLBOX)
-	add_subdirectory(matlab)
-endif()
-
-# Build gtsam_unstable
-if (GTSAM_BUILD_UNSTABLE)
-    add_subdirectory(gtsam_unstable)
-endif(GTSAM_BUILD_UNSTABLE)
-
-# Install config and export files
-GtsamMakeConfigFile(GTSAM)
-export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
-
-# Check for doxygen availability - optional dependency
-find_package(Doxygen)
-
-# Doxygen documentation - enabling options in subfolder
-if (DOXYGEN_FOUND)
-    add_subdirectory(doc)
-endif()
-
-
-###############################################################################
-# Set up CPack
-set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
-set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
-set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
-set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README")
-set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
-set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
-set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
-set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
-set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
-#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
-#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
-set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
-set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
-set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
-#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
-
-# Deb-package specific cpack
-set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
-
-
-###############################################################################
-# Print configuration variables
-message(STATUS "===============================================================")
-message(STATUS "================  Configuration Options  ======================")
-message(STATUS "Build flags                                               ")
-print_config_flag(${GTSAM_BUILD_TIMING}                "Build Timing scripts           ")
-print_config_flag(${GTSAM_BUILD_EXAMPLES}              "Build Examples                 ")
-print_config_flag(${GTSAM_BUILD_TESTS}                 "Build Tests                    ")
-if (DOXYGEN_FOUND)
-    print_config_flag(${GTSAM_BUILD_DOCS}                  "Build Docs                     ")
-endif()
-print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY}        "Build shared GTSAM Library     ")
-print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY}        "Build static GTSAM Library     ")
-print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name ")
-if(GTSAM_UNSTABLE_AVAILABLE)
-    print_config_flag(${GTSAM_BUILD_UNSTABLE}           "Build libgtsam_unstable        ")
-endif()
-print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL}     "No tests in all or install     ")
-print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL}  "No examples in all or install  ")
-string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
-message(STATUS "  Build type                     : ${CMAKE_BUILD_TYPE}")
-message(STATUS "  C compilation flags            : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
-message(STATUS "  C++ compilation flags          : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
-if(GTSAM_USE_TBB)
-	message(STATUS "  Use Intel TBB                  : Yes")
-elseif(TBB_FOUND)
-	message(STATUS "  Use Intel TBB                  : TBB found but GTSAM_WITH_TBB is disabled")
-else()
-	message(STATUS "  Use Intel TBB                  : TBB not found")
-endif()
-
-
-message(STATUS "Packaging flags                                               ")
-message(STATUS "  CPack Source Generator         : ${CPACK_SOURCE_GENERATOR}")
-message(STATUS "  CPack Generator                : ${CPACK_GENERATOR}")
-
-message(STATUS "GTSAM flags                                               ")
-print_config_flag(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3    ")
-print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking   ")
-print_config_flag(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap   ")
-
-message(STATUS "MATLAB toolbox flags                                      ")
-print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX}      "Install matlab toolbox         ")
-print_config_flag(${GTSAM_BUILD_WRAP}                  "Build Wrap                     ")
-print_config_flag(${GTSAM_INSTALL_WRAP}                "Install wrap utility           ")
-message(STATUS "===============================================================")
-
-if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
-	message(WARNING "GTSAM_USE_TBB is set to 'On' but TBB was not found.  This is ok, but GTSAM parallelization will be disabled.  Set GTSAM_USE_TBB to 'Off' to avoid this warning.")
-endif()
-
-# Include CPack *after* all flags
-include(CPack)
+
+project(GTSAM CXX C)
+cmake_minimum_required(VERSION 2.6)
+
+# Set the version number for the library
+set (GTSAM_VERSION_MAJOR 3)
+set (GTSAM_VERSION_MINOR 0)
+set (GTSAM_VERSION_PATCH 0)
+math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
+set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
+
+###############################################################################
+# Gather information, perform checks, set defaults
+
+# Set the default install path to home
+#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library")
+
+set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+include(GtsamMakeConfigFile)
+
+# Record the root dir for gtsam - needed during external builds, e.g., ROS
+set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
+
+# Load build type flags and default to Debug mode
+include(GtsamBuildTypes)
+
+# Use macros for creating tests/timing scripts
+include(GtsamTesting)
+include(GtsamPrinting)
+
+# guard against in-source builds
+if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
+  message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
+endif()
+
+# See whether gtsam_unstable is available (it will be present only if we're using an SVN checkout)
+if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
+    set(GTSAM_UNSTABLE_AVAILABLE 1)
+else()
+    set(GTSAM_UNSTABLE_AVAILABLE 0)
+endif()
+
+
+###############################################################################
+# Set up options
+
+# Configurable Options
+option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)
+option(GTSAM_BUILD_TIMING                "Enable/Disable building of timing scripts" OFF) # These do not currently work
+option(GTSAM_BUILD_EXAMPLES              "Enable/Disable building of examples"       ON)
+if(GTSAM_UNSTABLE_AVAILABLE)
+    option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
+endif()
+option(GTSAM_BUILD_SHARED_LIBRARY        "Enable/Disable building of a shared version of gtsam" ON)
+option(GTSAM_BUILD_STATIC_LIBRARY        "Enable/Disable building of a static version of gtsam" OFF)
+option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
+option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
+option(GTSAM_ROT3_EXPMAP 			 	 "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
+option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF) 
+option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" ON)
+
+# Options relating to MATLAB wrapper
+# TODO: Check for matlab mex binary before handling building of binaries
+option(GTSAM_INSTALL_MATLAB_TOOLBOX      "Enable/Disable installation of matlab toolbox"  OFF)
+option(GTSAM_BUILD_WRAP                  "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
+option(GTSAM_INSTALL_WRAP                "Enable/Disable installation of wrap utility for wrapping other libraries"    ON)
+
+# Check / set dependent variables for MATLAB wrapper
+set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap")
+if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
+	message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
+endif()
+if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
+	message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
+endif()
+
+# Flags for choosing default packaging tools
+set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
+set(CPACK_GENERATOR        "TGZ" CACHE STRING "CPack Default Binary Generator")
+
+# Sanity check building of libraries
+if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
+    message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
+endif()
+
+# Flags to determine whether tests and examples are build during 'make install'
+# Note that these remove the targets from the 'all'
+option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
+option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF)
+
+# Pull in infrastructure
+if (GTSAM_BUILD_TESTS)
+    enable_testing()
+    include(Dart)
+    include(CTest)
+endif()
+
+###############################################################################
+# Find boost
+
+# To change the path for boost, you will need to set:
+# BOOST_ROOT: path to install prefix for boost
+# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
+
+# If using Boost shared libs, disable auto linking
+if(MSVC AND NOT Boost_USE_STATIC_LIBS)
+	add_definitions(-DBOOST_ALL_NO_LIB)
+endif()
+
+find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
+
+# Required components
+if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
+    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY OR NOT Boost_REGEX_LIBRARY)
+  message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.")
+endif()
+
+option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
+# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
+set(GTSAM_BOOST_LIBRARIES
+    ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}
+	${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY})
+if (GTSAM_DISABLE_NEW_TIMERS)
+    message("WARNING:  GTSAM timing instrumentation manually disabled")
+    add_definitions(-DGTSAM_DISABLE_NEW_TIMERS)
+else()
+    if(Boost_TIMER_LIBRARY)
+      list(APPEND GTSAM_BOOST_LIBRARIES ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
+    else()
+      message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
+    endif()
+endif()
+
+
+###############################################################################
+# Find TBB
+find_package(TBB)
+
+# Set up variables if we're using TBB
+if(TBB_FOUND AND GTSAM_WITH_TBB)
+	set(GTSAM_USE_TBB 1)  # This will go into config.h
+	set(GTSAM_TBB_LIBRARIES "")
+	if(TBB_DEBUG_LIBRARIES)
+		foreach(lib ${TBB_LIBRARIES})
+			list(APPEND GTSAM_TBB_LIBRARIES optimized "${lib}")
+		endforeach()
+		foreach(lib ${TBB_DEBUG_LIBRARIES})
+			list(APPEND GTSAM_TBB_LIBRARIES debug "${lib}")
+		endforeach()
+	else()
+		set(GTSAM_TBB_LIBRARIES ${TBB_LIBRARIES})
+	endif()
+endif()
+
+
+###############################################################################
+# Option for using system Eigen or GTSAM-bundled Eigen
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
+
+# Switch for using system Eigen or GTSAM-bundled Eigen
+if(GTSAM_USE_SYSTEM_EIGEN)
+	# Use generic Eigen include paths e.g. <Eigen/Core>
+	set(GTSAM_EIGEN_INCLUDE_PREFIX "")
+	
+	find_package(Eigen3 REQUIRED)
+	include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
+else()
+	# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
+	set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
+	
+	# Clear any variables set by FindEigen3
+	if(EIGEN3_INCLUDE_DIR)
+		set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
+	endif()
+endif()
+
+# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
+configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eigen_includes.h)
+
+# Install the configuration file for Eigen
+install(FILES ${CMAKE_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
+
+
+###############################################################################
+# Global compile options
+
+# Include boost - use 'BEFORE' so that a specific boost specified to CMake
+# takes precedence over a system-installed one.
+include_directories(BEFORE ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
+
+# Add includes for source directories 'BEFORE' boost and any system include
+# paths so that the compiler uses GTSAM headers in our source directory instead
+# of any previously installed GTSAM headers.
+include_directories(BEFORE
+  gtsam/3rdparty/UFconfig 
+  gtsam/3rdparty/CCOLAMD/Include
+  ${CMAKE_SOURCE_DIR}
+  ${CMAKE_BINARY_DIR} # So we can include generated config header files
+  CppUnitLite)
+
+if(MSVC)
+	add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS)
+	add_definitions(/wd4251 /wd4275 /wd4251 /wd4661) # Disable non-DLL-exported base class and other warnings
+endif()
+
+if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
+  add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
+endif()   
+
+###############################################################################
+# Add components
+
+# Set default library - static or shared, before adding subdirectories
+if(GTSAM_BUILD_SHARED_LIBRARY)
+	set(gtsam-default gtsam-shared)
+	if(GTSAM_BUILD_UNSTABLE)
+		set(gtsam_unstable-default gtsam_unstable-shared)
+	endif()
+else()
+	set(gtsam-default gtsam-static)
+	if(GTSAM_BUILD_UNSTABLE)
+		set(gtsam_unstable-default gtsam_unstable-static)
+	endif()
+endif()
+
+# Build CppUnitLite
+add_subdirectory(CppUnitLite)
+
+# Build wrap
+if (GTSAM_BUILD_WRAP)
+    add_subdirectory(wrap)
+endif(GTSAM_BUILD_WRAP)
+
+# Build GTSAM library
+add_subdirectory(gtsam)
+
+# Build Tests
+add_subdirectory(tests)
+
+# Build examples
+if (GTSAM_BUILD_EXAMPLES)
+    add_subdirectory(examples)
+endif(GTSAM_BUILD_EXAMPLES)
+
+# Matlab toolbox
+if (GTSAM_INSTALL_MATLAB_TOOLBOX)
+	add_subdirectory(matlab)
+endif()
+
+# Build gtsam_unstable
+if (GTSAM_BUILD_UNSTABLE)
+    add_subdirectory(gtsam_unstable)
+endif(GTSAM_BUILD_UNSTABLE)
+
+# Install config and export files
+GtsamMakeConfigFile(GTSAM)
+export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
+
+# Check for doxygen availability - optional dependency
+find_package(Doxygen)
+
+# Doxygen documentation - enabling options in subfolder
+if (DOXYGEN_FOUND)
+    add_subdirectory(doc)
+endif()
+
+
+###############################################################################
+# Set up CPack
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
+set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
+set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
+set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README")
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
+set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
+set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
+#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
+#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
+set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
+set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
+set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
+#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
+
+# Deb-package specific cpack
+set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
+
+
+###############################################################################
+# Print configuration variables
+message(STATUS "===============================================================")
+message(STATUS "================  Configuration Options  ======================")
+message(STATUS "Build flags                                               ")
+print_config_flag(${GTSAM_BUILD_TIMING}                "Build Timing scripts           ")
+print_config_flag(${GTSAM_BUILD_EXAMPLES}              "Build Examples                 ")
+print_config_flag(${GTSAM_BUILD_TESTS}                 "Build Tests                    ")
+if (DOXYGEN_FOUND)
+    print_config_flag(${GTSAM_BUILD_DOCS}                  "Build Docs                     ")
+endif()
+print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY}        "Build shared GTSAM Library     ")
+print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY}        "Build static GTSAM Library     ")
+print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name ")
+if(GTSAM_UNSTABLE_AVAILABLE)
+    print_config_flag(${GTSAM_BUILD_UNSTABLE}           "Build libgtsam_unstable        ")
+endif()
+print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL}     "No tests in all or install     ")
+print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL}  "No examples in all or install  ")
+string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
+message(STATUS "  Build type                     : ${CMAKE_BUILD_TYPE}")
+message(STATUS "  C compilation flags            : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
+message(STATUS "  C++ compilation flags          : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
+if(GTSAM_USE_TBB)
+	message(STATUS "  Use Intel TBB                  : Yes")
+elseif(TBB_FOUND)
+	message(STATUS "  Use Intel TBB                  : TBB found but GTSAM_WITH_TBB is disabled")
+else()
+	message(STATUS "  Use Intel TBB                  : TBB not found")
+endif()
+
+
+message(STATUS "Packaging flags                                               ")
+message(STATUS "  CPack Source Generator         : ${CPACK_SOURCE_GENERATOR}")
+message(STATUS "  CPack Generator                : ${CPACK_GENERATOR}")
+
+message(STATUS "GTSAM flags                                               ")
+print_config_flag(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3    ")
+print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking   ")
+print_config_flag(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap   ")
+
+message(STATUS "MATLAB toolbox flags                                      ")
+print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX}      "Install matlab toolbox         ")
+print_config_flag(${GTSAM_BUILD_WRAP}                  "Build Wrap                     ")
+print_config_flag(${GTSAM_INSTALL_WRAP}                "Install wrap utility           ")
+message(STATUS "===============================================================")
+
+if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
+	message(WARNING "GTSAM_USE_TBB is set to 'On' but TBB was not found.  This is ok, but GTSAM parallelization will be disabled.  Set GTSAM_USE_TBB to 'Off' to avoid this warning.")
+endif()
+
+# Include CPack *after* all flags
+include(CPack)
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index 7dc704852..4ff9a499e 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -21,8 +21,8 @@
 #define GTSAM_VERSION_MAJOR @GTSAM_VERSION_MAJOR@
 #define GTSAM_VERSION_MINOR @GTSAM_VERSION_MINOR@
 #define GTSAM_VERSION_PATCH @GTSAM_VERSION_PATCH@
-#define GTSAM_VERSION_STRING "@GTSAM_VERSION_MAJOR@.@GTSAM_VERSION_MINOR@.@GTSAM_VERSION_PATCH@"
-#define GTSAM_VERSION_NUMERIC (10000 * @GTSAM_VERSION_MAJOR@ + 100 * @GTSAM_VERSION_MINOR@ + @GTSAM_VERSION_PATCH@)
+#define GTSAM_VERSION_NUMERIC @GTSAM_VERSION_NUMERIC@
+#define GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@"
 
 // Paths to example datasets distributed with GTSAM
 #define GTSAM_SOURCE_TREE_DATASET_DIR "@CMAKE_SOURCE_DIR@/examples/Data"