diff --git a/buildtools/FindOpenCV.cmake b/buildtools/FindOpenCV.cmake
new file mode 100644
index 000000000..861c76fe9
--- /dev/null
+++ b/buildtools/FindOpenCV.cmake
@@ -0,0 +1,246 @@
+# - Try to find OpenCV library installation
+# See http://sourceforge.net/projects/opencvlibrary/
+#
+# The follwoing variables are optionally searched for defaults
+#  OpenCV_ROOT_DIR:            Base directory of OpenCv tree to use.
+#  OpenCV_FIND_REQUIRED_COMPONENTS : FIND_PACKAGE(OpenCV COMPONENTS ..) 
+#    compatible interface. typically  CV CXCORE CVAUX HIGHGUI CVCAM .. etc.
+#
+# The following are set after configuration is done: 
+#  OpenCV_FOUND
+#  OpenCV_INCLUDE_DIR
+#  OpenCV_LIBRARIES
+#  OpenCV_LINK_DIRECTORIES
+#
+# deprecated:
+#  OPENCV_* uppercase replaced by case sensitive OpenCV_*
+#  OPENCV_EXE_LINKER_FLAGS
+#  OPENCV_INCLUDE_DIR : replaced by plural *_DIRS
+# 
+# 2004/05 Jan Woetzel, Friso, Daniel Grest 
+# 2006/01 complete rewrite by Jan Woetzel
+# 1006/09 2nd rewrite introducing ROOT_DIR and PATH_SUFFIXES 
+#   to handle multiple installed versions gracefully by Jan Woetzel
+#
+# tested with:
+# -OpenCV 0.97 (beta5a):  MSVS 7.1, gcc 3.3, gcc 4.1
+# -OpenCV 0.99 (1.0rc1):  MSVS 7.1
+#
+# www.mip.informatik.uni-kiel.de/~jw
+# --------------------------------
+
+
+MACRO(DBG_MSG _MSG)
+  #  MESSAGE(STATUS "${CMAKE_CURRENT_LIST_FILE}(${CMAKE_CURRENT_LIST_LINE}):\n${_MSG}")
+ENDMACRO(DBG_MSG)
+
+
+
+# required cv components with header and library if COMPONENTS unspecified
+IF    (NOT OpenCV_FIND_COMPONENTS)
+  # default
+  SET(OpenCV_FIND_REQUIRED_COMPONENTS   CV CXCORE CVAUX HIGHGUI )
+  IF   (WIN32)
+    LIST(APPEND OpenCV_FIND_REQUIRED_COMPONENTS  CVCAM ) # WIN32 only actually
+  ENDIF(WIN32)  
+ENDIF (NOT OpenCV_FIND_COMPONENTS)
+
+
+# typical root dirs of installations, exactly one of them is used
+SET (OpenCV_POSSIBLE_ROOT_DIRS
+  "${OpenCV_ROOT_DIR}"
+  "$ENV{OpenCV_ROOT_DIR}"  
+  "$ENV{OPENCV_DIR}"  # only for backward compatibility deprecated by ROOT_DIR
+  "$ENV{OPENCV_HOME}" # only for backward compatibility
+  "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\Uninstall\\Intel(R) Open Source Computer Vision Library_is1;Inno Setup: App Path]"
+  "$ENV{ProgramFiles}/OpenCV"
+  /usr/local
+  /usr
+  )
+
+
+# MIP Uni Kiel /opt/net network installation 
+# get correct prefix for current gcc compiler version for gcc 3.x  4.x
+IF    (${CMAKE_COMPILER_IS_GNUCXX})
+  IF    (NOT OpenCV_FIND_QUIETLY)
+    MESSAGE(STATUS "Checking GNUCXX version 3/4 to determine  OpenCV /opt/net/ path")
+  ENDIF (NOT OpenCV_FIND_QUIETLY)
+  EXEC_PROGRAM(${CMAKE_CXX_COMPILER} ARGS --version OUTPUT_VARIABLE CXX_COMPILER_VERSION)  
+  IF   (CXX_COMPILER_VERSION MATCHES ".*3\\.[0-9].*")
+    SET(IS_GNUCXX3 TRUE)
+    LIST(APPEND OpenCV_POSSIBLE_ROOT_DIRS /opt/net/gcc33/OpenCV )
+  ENDIF(CXX_COMPILER_VERSION MATCHES ".*3\\.[0-9].*")  
+  IF   (CXX_COMPILER_VERSION MATCHES ".*4\\.[0-9].*")
+    SET(IS_GNUCXX4 TRUE)
+    LIST(APPEND OpenCV_POSSIBLE_ROOT_DIRS /opt/net/gcc41/OpenCV )
+  ENDIF(CXX_COMPILER_VERSION MATCHES ".*4\\.[0-9].*")
+ENDIF (${CMAKE_COMPILER_IS_GNUCXX})
+
+#DBG_MSG("DBG (OpenCV_POSSIBLE_ROOT_DIRS=${OpenCV_POSSIBLE_ROOT_DIRS}")
+
+#
+# select exactly ONE OpenCV base directory/tree 
+# to avoid mixing different version headers and libs
+#
+FIND_PATH(OpenCV_ROOT_DIR 
+  NAMES 
+  cv/include/cv.h     # windows
+  include/opencv/cv.h # linux /opt/net
+  include/cv/cv.h 
+  include/cv.h 
+  PATHS ${OpenCV_POSSIBLE_ROOT_DIRS})
+DBG_MSG("OpenCV_ROOT_DIR=${OpenCV_ROOT_DIR}")
+
+
+# header include dir suffixes appended to OpenCV_ROOT_DIR
+SET(OpenCV_INCDIR_SUFFIXES
+  include
+  include/cv
+  include/opencv
+  cv/include
+  cxcore/include
+  cvaux/include
+  otherlibs/cvcam/include
+  otherlibs/highgui
+  otherlibs/highgui/include
+  otherlibs/_graphics/include
+  )
+
+# library linkdir suffixes appended to OpenCV_ROOT_DIR 
+SET(OpenCV_LIBDIR_SUFFIXES
+  lib
+  OpenCV/lib
+  otherlibs/_graphics/lib
+  )
+#DBG_MSG("OpenCV_LIBDIR_SUFFIXES=${OpenCV_LIBDIR_SUFFIXES}")
+
+
+#
+# find incdir for each lib
+#
+FIND_PATH(OpenCV_CV_INCLUDE_DIR
+  NAMES cv.h      
+  PATHS ${OpenCV_ROOT_DIR} 
+  PATH_SUFFIXES ${OpenCV_INCDIR_SUFFIXES} )
+FIND_PATH(OpenCV_CXCORE_INCLUDE_DIR   
+  NAMES cxcore.h
+  PATHS ${OpenCV_ROOT_DIR} 
+  PATH_SUFFIXES ${OpenCV_INCDIR_SUFFIXES} )
+FIND_PATH(OpenCV_CVAUX_INCLUDE_DIR    
+  NAMES cvaux.h
+  PATHS ${OpenCV_ROOT_DIR} 
+  PATH_SUFFIXES ${OpenCV_INCDIR_SUFFIXES} )
+FIND_PATH(OpenCV_HIGHGUI_INCLUDE_DIR  
+  NAMES highgui.h 
+  PATHS ${OpenCV_ROOT_DIR} 
+  PATH_SUFFIXES ${OpenCV_INCDIR_SUFFIXES} )
+FIND_PATH(OpenCV_CVCAM_INCLUDE_DIR    
+  NAMES cvcam.h 
+  PATHS ${OpenCV_ROOT_DIR} 
+  PATH_SUFFIXES ${OpenCV_INCDIR_SUFFIXES} )
+
+#
+# find sbsolute path to all libraries 
+# some are optionally, some may not exist on Linux
+#
+FIND_LIBRARY(OpenCV_CV_LIBRARY   
+  NAMES cv opencv
+  PATHS ${OpenCV_ROOT_DIR}  
+  PATH_SUFFIXES  ${OpenCV_LIBDIR_SUFFIXES} )
+FIND_LIBRARY(OpenCV_CVAUX_LIBRARY
+  NAMES cvaux
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} )
+FIND_LIBRARY(OpenCV_CVCAM_LIBRARY   
+  NAMES cvcam
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} ) 
+FIND_LIBRARY(OpenCV_CVHAARTRAINING_LIBRARY
+  NAMES cvhaartraining
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} ) 
+FIND_LIBRARY(OpenCV_CXCORE_LIBRARY  
+  NAMES cxcore
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} )
+FIND_LIBRARY(OpenCV_CXTS_LIBRARY   
+  NAMES cxts
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} )
+FIND_LIBRARY(OpenCV_HIGHGUI_LIBRARY  
+  NAMES highgui
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} )
+FIND_LIBRARY(OpenCV_ML_LIBRARY  
+  NAMES ml
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} )
+FIND_LIBRARY(OpenCV_TRS_LIBRARY  
+  NAMES trs
+  PATHS ${OpenCV_ROOT_DIR}  PATH_SUFFIXES ${OpenCV_LIBDIR_SUFFIXES} )
+
+
+
+#
+# Logic selecting required libs and headers
+#
+SET(OpenCV_FOUND ON)
+DBG_MSG("OpenCV_FIND_REQUIRED_COMPONENTS=${OpenCV_FIND_REQUIRED_COMPONENTS}")
+FOREACH(NAME ${OpenCV_FIND_REQUIRED_COMPONENTS} )
+
+  # only good if header and library both found   
+  IF    (OpenCV_${NAME}_INCLUDE_DIR AND OpenCV_${NAME}_LIBRARY)
+    LIST(APPEND OpenCV_INCLUDE_DIRS ${OpenCV_${NAME}_INCLUDE_DIR} )
+    LIST(APPEND OpenCV_LIBRARIES    ${OpenCV_${NAME}_LIBRARY} )
+    #DBG_MSG("appending for NAME=${NAME} ${OpenCV_${NAME}_INCLUDE_DIR} and ${OpenCV_${NAME}_LIBRARY}" )
+  ELSE  (OpenCV_${NAME}_INCLUDE_DIR AND OpenCV_${NAME}_LIBRARY)
+    DBG_MSG("OpenCV component NAME=${NAME} not found! "
+      "\nOpenCV_${NAME}_INCLUDE_DIR=${OpenCV_${NAME}_INCLUDE_DIR} "
+      "\nOpenCV_${NAME}_LIBRARY=${OpenCV_${NAME}_LIBRARY} ")
+    SET(OpenCV_FOUND OFF)
+  ENDIF (OpenCV_${NAME}_INCLUDE_DIR AND OpenCV_${NAME}_LIBRARY)
+  
+ENDFOREACH(NAME)
+
+DBG_MSG("OpenCV_INCLUDE_DIRS=${OpenCV_INCLUDE_DIRS}")
+DBG_MSG("OpenCV_LIBRARIES=${OpenCV_LIBRARIES}")
+
+# get the link directory for rpath to be used with LINK_DIRECTORIES: 
+IF    (OpenCV_CV_LIBRARY)
+  GET_FILENAME_COMPONENT(OpenCV_LINK_DIRECTORIES ${OpenCV_CV_LIBRARY} PATH)
+ENDIF (OpenCV_CV_LIBRARY)
+
+MARK_AS_ADVANCED(
+  OpenCV_ROOT_DIR
+  OpenCV_INCLUDE_DIRS
+  OpenCV_CV_INCLUDE_DIR
+  OpenCV_CXCORE_INCLUDE_DIR
+  OpenCV_CVAUX_INCLUDE_DIR
+  OpenCV_CVCAM_INCLUDE_DIR
+  OpenCV_HIGHGUI_INCLUDE_DIR
+  OpenCV_LIBRARIES
+  OpenCV_CV_LIBRARY
+  OpenCV_CXCORE_LIBRARY
+  OpenCV_CVAUX_LIBRARY
+  OpenCV_CVCAM_LIBRARY
+  OpenCV_CVHAARTRAINING_LIBRARY
+  OpenCV_CXTS_LIBRARY
+  OpenCV_HIGHGUI_LIBRARY
+  OpenCV_ML_LIBRARY
+  OpenCV_TRS_LIBRARY
+  )
+
+
+# be backward compatible:
+SET(OPENCV_LIBRARIES   ${OpenCV_LIBRARIES} )
+SET(OPENCV_INCLUDE_DIR ${OpenCV_INCLUDE_DIRS} )
+SET(OPENCV_FOUND       ${OpenCV_FOUND})
+
+
+
+# display help message
+IF(NOT OpenCV_FOUND)
+  # make FIND_PACKAGE friendly
+  IF(NOT OpenCV_FIND_QUIETLY)
+    IF(OpenCV_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR
+        "OpenCV required but some headers or libs not found. Please specify it's location with OpenCV_ROOT_DIR env. variable.")
+    ELSE(OpenCV_FIND_REQUIRED)
+      MESSAGE(STATUS 
+        "ERROR: OpenCV was not found.")
+    ENDIF(OpenCV_FIND_REQUIRED)
+  ENDIF(NOT OpenCV_FIND_QUIETLY)
+ENDIF(NOT OpenCV_FOUND)
diff --git a/buildtools/cmake_wrapper.mk b/buildtools/cmake_wrapper.mk
new file mode 100644
index 000000000..92a0a15c2
--- /dev/null
+++ b/buildtools/cmake_wrapper.mk
@@ -0,0 +1,76 @@
+# This is a Makefile wrapper for CMake, to make it easier to build cmake from
+# within Eclipse.  This does an out-of-source build in the 'build' directory.
+# CMake is run automatically when necessary!
+#
+# Useful targets:
+#   cmake, ccmake, cmake_gui:  Run this variant of cmake from the 'build' directory
+#   configure:  Just runs cmake
+#   distclean:  Clean out the build directory, including removing the CMake cache
+# All other targets are just passed to the Makefile created by CMake.
+#
+# If CMake is not finding the packages it needs, set CMAKE_PREFIX_PATH in the
+# environment, e.g. CMAKE_PREFIX_PATH=/opt/local:/opt/local/libexec/qt4-mac for
+# MacPorts.
+#
+# Another feature if you need to set CMake options, but never want to run it by
+# hand, is to put the CMake command line options in the environment variable
+# $CMAKE_OPTIONS, and this Makefile will pass it on!  You can do this in Eclipse.
+#
+# Nov 24, 2009, Richard Roberts
+#
+
+BUILD=build
+
+# Default target
+d_all: all ;
+.PHONY: d_all
+
+##### Special targets #####
+
+# Run cmake
+.PHONY: configure
+configure: cmake ;
+
+# Run cmake variants
+.PHONY: cmake ccmake cmake_gui
+cmake ccmake cmake_gui: builddir_exists
+	cd ${BUILD}; $@ ${CMAKE_OPTIONS} ..
+
+# Re-run CMake if the Makefile is out of date or non-existant
+${BUILD}/Makefile:
+	@if [ ! -d ${BUILD} ]; then \
+		echo "[cmake_wrapper]: mkdir ${BUILD}"; \
+		mkdir ${BUILD}; \
+	fi
+	cd ${BUILD}; cmake ${CMAKE_OPTIONS} ..
+
+# Clear the cache, totally remove everything
+.PHONY: distclean
+distclean:
+	@if [ -d ${BUILD} ]; then \
+		if [ -d ${BUILD}/CMakeFiles -a -f ${BUILD}/CMakeCache.txt ]; then \
+			echo "[cmake_wrapper]: rm -r ${BUILD}"; \
+			rm -r ${BUILD}; \
+		else \
+			echo "[cmake_wrapper]: *** Did not find one of ${BUILD}/CMakeFiles or ${BUILD}/CMakeCache.txt," >&2; \
+			echo "[cmake_wrapper]: *** so not attempting to remove ${BUILD}, please remove manually." >&2; \
+			exit 1; \
+		fi \
+	else \
+		echo "[cmake_wrapper]: Did not find ${BUILD} - nothing to clean or in the wrong directory" >&2; \
+	fi
+
+# Make sure the build directory exists
+.PHONY: builddir_exists
+builddir_exists:
+	@if [ ! -d ${BUILD} ]; then \
+		echo "[cmake_wrapper]: mkdir ${BUILD}"; \
+		mkdir ${BUILD}; \
+	fi
+
+# Default rule to pass target to CMake Makefile
+%:
+	make -f$(lastword ${MAKEFILE_LIST}) ${BUILD}/Makefile
+	VERBOSE=1 make -C${BUILD} $@
+	
+
diff --git a/buildtools/gt.cmake b/buildtools/gt.cmake
new file mode 100644
index 000000000..ce04aa561
--- /dev/null
+++ b/buildtools/gt.cmake
@@ -0,0 +1,203 @@
+# CMake file for cpp libraries and projects
+#
+# To use:
+#   cmake_minimum_required(VERSION 2.6)
+#   include("$ENV{HOME}/borg/gtsam/buildtools/gt.cmake")
+#   project(your-project-name CXX C)
+#
+# November, 2009 - Richard Roberts
+
+cmake_policy(PUSH)
+
+cmake_minimum_required(VERSION 2.6)
+
+# Set the default install prefix
+set(CMAKE_INSTALL_PREFIX "$ENV{HOME}" CACHE PATH "Installation prefix" FORCE)
+
+# Add borg libraries and includes
+include_directories("${CMAKE_INSTALL_PREFIX}/include")
+link_directories("${CMAKE_INSTALL_PREFIX}/lib")
+
+# Path to CppUnitLite
+set(GT_CPPUNITLITE_INCLUDE_DIR "${BORG_SOFTWARE_ROOT}/gtsam")
+set(GT_CPPUNITLITE_LIB_DIR "${BORG_SOFTWARE_ROOT}/gtsam/CppUnitLite")
+
+# Enable unit testing
+enable_testing()
+add_custom_target(check make all test)
+
+
+############
+### Quick "use" functions
+file(TO_CMAKE_PATH "${CMAKE_CURRENT_LIST_FILE}" GT_BUILDTOOLS)
+string(REPLACE "/" ";" GT_BUILDTOOLS "${GT_BUILDTOOLS}")
+list(REMOVE_AT GT_BUILDTOOLS -1)
+string(REPLACE ";" "/" GT_BUILDTOOLS "${GT_BUILDTOOLS}")
+message(STATUS "Build tools dir ${GT_BUILDTOOLS}")
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${GT_BUILDTOOLS}")
+function(GT_USE_BOOST)
+    find_package(Boost REQUIRED)
+    link_directories(${Boost_LIBRARY_DIRS})
+    include_directories(${Boost_INCLUDE_DIRS})
+    link_libraries(${Boost_LIBRARIES})
+endfunction(GT_USE_BOOST)
+function(GT_USE_QT4 extra_components)
+    find_package(Qt4 COMPONENTS QtCore QtGui ${extra_components} REQUIRED)
+    include(${QT_USE_FILE})
+    link_libraries(${QT_LIBRARIES})
+endfunction(GT_USE_QT4)
+function(GT_USE_OPENCV)
+    find_package(OpenCV REQUIRED)
+    link_directories(${OpenCV_LINK_DIRECTORIES})
+    include_directories(${OpenCV_INCLUDE_DIRS})
+    link_libraries(${OpenCV_LIBRARIES)
+endfunction(GT_USE_OPENCV)
+function(GT_USE_GTSAM)
+    link_libraries("gtsam")
+endfunction(GT_USE_GTSAM)
+function(GT_USE_EASY2D)
+    link_libraries("easy2d")
+endfunction(GT_USE_EASY2D)
+
+
+############
+### Main target functions, calling one of these will replace the previous main target.
+
+# Define "common" sources when there is no main library or executable
+function(GT_MAIN_SOURCES)
+    set(GT_COMMON_SOURCES "")
+    foreach(srcpat ${ARGN})
+        # Get the sources matching the specified pattern
+        file(GLOB srcs RELATIVE "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/${srcpat}")
+        set(GT_COMMON_SOURCES ${GT_COMMON_SOURCES} ${srcs} PARENT_SCOPE)
+        #message(STATUS "Adding sources: " ${srcs})
+    endforeach(srcpat)
+endfunction(GT_MAIN_SOURCES)
+
+# Add headers to be installed
+function(GT_INSTALL_HEADERS)
+    foreach(srcpat ${ARGN})
+        # Get the sources matching the specified pattern
+        file(GLOB srcs RELATIVE "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/${srcpat}")
+        install(FILES ${srcs} DESTINATION "include/${PROJECT_NAME}")
+    endforeach(srcpat)
+endfunction(GT_INSTALL_HEADERS)
+
+# Define the main shared library from the given sources
+function(GT_MAIN_SHLIB)
+    gt_main_sources(${ARGN})
+    set(GT_COMMON_SOURCES "${GT_COMMON_SOURCES}" PARENT_SCOPE)
+    message(STATUS "[gt.cmake] Adding main shlib \"${PROJECT_NAME}\" with sources ${GT_COMMON_SOURCES}")
+    add_library(${PROJECT_NAME} SHARED ${GT_COMMON_SOURCES})
+    install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION "lib" ARCHIVE DESTINATION "lib")
+endfunction(GT_MAIN_SHLIB)
+
+# Define the main static library from the given sources
+function(GT_MAIN_STLIB)
+    gt_main_sources(${ARGN})
+    set(GT_COMMON_SOURCES "${GT_COMMON_SOURCES}" PARENT_SCOPE)
+    message(STATUS "[gt.cmake] Adding main stlib \"${PROJECT_NAME}\" with sources ${GT_COMMON_SOURCES}")
+    add_library(${PROJECT_NAME} STATIC ${GT_COMMON_SOURCES})
+    install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION "lib")
+endfunction(GT_MAIN_STLIB)
+
+# Define the main executable from the given sources
+function(GT_MAIN_EXE)
+    gt_main_sources(${ARGN})
+    set(GT_COMMON_SOURCES "${GT_COMMON_SOURCES}" PARENT_SCOPE)
+    message(STATUS "[gt.cmake] Adding main exe \"${PROJECT_NAME}\" with sources ${GT_COMMON_SOURCES}")
+    add_executable(${PROJECT_NAME} ${GT_COMMON_SOURCES})
+    install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION "bin")
+endfunction(GT_MAIN_EXE)
+
+
+############
+### "Auto" targets - main() files and unit tests
+
+# Add "auto" executables
+function(GT_AUTO_EXES)
+    foreach(srcpat ${ARGN})
+        # Get the sources matching the specified pattern
+        file(GLOB srcs RELATIVE "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/${srcpat}")
+        foreach(src ${srcs})
+            gt_get_stem(exe ${src})
+            message(STATUS "[gt.cmake] Adding auto exe \"${exe}\" from ${src}")
+            add_executable(${exe} ${src} ${GT_COMMON_SOURCES})
+        endforeach(src ${srcs})
+    endforeach(srcpat ${ARGN})
+endfunction(GT_AUTO_EXES)
+
+# Add "auto" executables and install them
+function(GT_AUTO_INSTALLED_EXES)
+    foreach(srcpat ${ARGN})
+        # Get the sources matching the specified pattern
+        file(GLOB srcs RELATIVE "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/${srcpat}")
+        foreach(src ${srcs})
+            gt_get_stem(exe ${src})
+            message(STATUS "[gt.cmake] Adding auto installed exe \"${exe}\" from ${src}")
+            add_executable(${exe} ${src} ${GT_COMMON_SOURCES})
+            install(TARGETS ${exe} RUNTIME DESTINATION "bin")
+        endforeach(src ${srcs})
+    endforeach(srcpat ${ARGN})
+endfunction(GT_AUTO_INSTALLED_EXES)
+
+
+# Add "auto" unit tests
+function(GT_AUTO_TESTS)
+    # Enable testing
+    if(NOT gt_testing_on)
+        message(STATUS "[gt.cmake] Enabling unit testing")
+        include_directories("${GT_CPPUNITLITE_INCLUDE_DIR}")
+        link_directories("${GT_CPPUNITLITE_LIB_DIR}")
+        set(gt_testing_on 1 PARENT_SCOPE)
+    endif(NOT gt_testing_on)
+    
+    foreach(srcpat ${ARGN})
+        # Get the sources matching the specified pattern
+        file(GLOB srcs RELATIVE "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/${srcpat}")
+        foreach(src ${srcs})
+            gt_get_stem(exe ${src})
+            message(STATUS "[gt.cmake] Adding test \"${exe}\" from ${src}")
+            add_executable(${exe} ${src} ${GT_COMMON_SOURCES})
+            target_link_libraries(${exe} "CppUnitLite")
+            add_test(${exe} ${exe})
+        endforeach(src ${srcs})
+    endforeach(srcpat ${ARGN})
+endfunction(GT_AUTO_TESTS)
+
+
+function(GT_GET_STEM outstem path)
+    gt_get_pathstem(outpath stem "${path}")
+    set(${outstem} "${stem}" PARENT_SCOPE)
+    #message(STATUS "Got ${stem} for stem from child, setting into variable ${outstem}")
+endfunction(GT_GET_STEM)
+
+# Get the target name from a source file path
+function(GT_GET_PATHSTEM outpath outstem path)
+    #message(STATUS "Looking for stem of ${path}")
+    # Get the file name from the path
+    file(TO_CMAKE_PATH "${path}" stems)
+    string(REPLACE "/" ";" stems "${path}")
+    list(GET stems -1 stem)
+    #message(STATUS "Got ${stem} for filename")
+    list(REMOVE_AT stems -1)
+    string(REPLACE ";" "/" stems "${stems}")
+    file(TO_NATIVE_PATH "${stems}" stems)
+    set(${outpath} "${stems}" PARENT_SCOPE)
+    #message(STATUS "Got ${stems} for path")
+    # Remove extension
+    string(REPLACE "." ";" stem "${stem}")
+    list(LENGTH stem llen)
+    if(${llen} GREATER 1)
+        list(REMOVE_AT stem -1)
+    else(${llen} GREATER 1)
+        list(APPEND stem "out")
+    endif(${llen} GREATER 1)
+    string(REPLACE ";" "." stem "${stem}")
+    set(${outstem} "${stem}" PARENT_SCOPE)
+    #message(STATUS "Got ${stem} for stem (setting into variable ${outstem})")
+endfunction(GT_GET_PATHSTEM)
+
+
+cmake_policy(POP)
+