diff --git a/buildtools/FindIPP.cmake b/buildtools/FindIPP.cmake
new file mode 100644
index 000000000..b192932e3
--- /dev/null
+++ b/buildtools/FindIPP.cmake
@@ -0,0 +1,153 @@
+#  Copyright (C) 2004-2009, Robotics Equipment Corporation GmbH
+#  http://svn.openrobotino.org/trunk/tools/cmake/FindIPP.cmake
+
+IF( NOT IPP_FOUND )
+
+FILE(GLOB IPP_INCLUDE_PATHS_0 "$ENV{ProgramFiles}/Intel/IPP/*.*/ia32/include")
+FILE(GLOB IPP_INCLUDE_PATHS_1 "/opt/intel/ipp/*.*/ia32/include")
+FILE(GLOB IPP_INCLUDE_PATHS_2 "/usr/local/intel/ipp/*.*/ia32/include")
+FILE(GLOB IPP_LIBRARY_PATHS_0 "$ENV{ProgramFiles}/Intel/IPP/*.*/ia32/lib")
+FILE(GLOB IPP_LIBRARY_PATHS_1 "$ENV{ProgramFiles}/Intel/IPP/*.*/ia32/stublib")
+FILE(GLOB IPP_LIBRARY_PATHS_2 "/opt/intel/ipp/*.*/ia32/lib")
+FILE(GLOB IPP_LIBRARY_PATHS_3 "/opt/intel/ipp/*.*/ia32/sharedlib")
+FILE(GLOB IPP_LIBRARY_PATHS_4 "/usr/local/intel/ipp/*.*/ia32/lib")
+FILE(GLOB IPP_LIBRARY_PATHS_5 "/usr/local/intel/ipp/*.*/ia32/sharedlib")
+
+SET(
+	IPP_INCLUDE_PATHS
+	${IPP_INCLUDE_PATHS_0}
+	${IPP_INCLUDE_PATHS_1}
+	${IPP_INCLUDE_PATHS_2}
+)
+
+SET(
+	IPP_LIBRARY_PATHS
+	${IPP_LIBRARY_PATHS_0}
+	${IPP_LIBRARY_PATHS_1}
+	${IPP_LIBRARY_PATHS_2}
+	${IPP_LIBRARY_PATHS_3}
+	${IPP_LIBRARY_PATHS_4}
+	${IPP_LIBRARY_PATHS_5}
+)
+
+FIND_PATH(
+  IPP_INCLUDE_DIR
+  ippi.h
+  ${IPP_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY( IPP_IPPCORELMERGED NAMES ippcorel ippcore PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPACEMERGED   NAMES ippacemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPACMERGED    NAMES ippacmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCCEMERGED   NAMES ippccemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCCMERGED    NAMES ippccmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCHEMERGED   NAMES ippchemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCHMERGED    NAMES ippchmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCVEMERGED   NAMES ippcvemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCVMERGED    NAMES ippcvmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPDCEMERGED   NAMES ippdcemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPDCMERGED    NAMES ippdcmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPIEMERGED    NAMES ippiemerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPIMERGED     NAMES ippimerged       PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPJEMERGED    NAMES ippjemerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPJMERGED     NAMES ippjmerged       PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPMEMERGED    NAMES ippmemerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPMMERGED     NAMES ippmmerged       PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSCEMERGED   NAMES ippscemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSCMERGED    NAMES ippscmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSEMERGED    NAMES ippsemerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSMERGED     NAMES ippsmerged       PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSREMERGED   NAMES ippsremerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSRMERGED    NAMES ippsrmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPVCEMERGED   NAMES ippvcemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPVCMERGED    NAMES ippvcmerged      PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPVMEMERGED   NAMES ippvmemerged     PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPVMMERGED    NAMES ippvmmerged      PATHS ${IPP_LIBRARY_PATHS} )
+
+SET(
+  IPP_MERGED_LIBRARIES
+  ${IPP_IPPACEMERGED}
+  ${IPP_IPPACMERGED}
+  
+  ${IPP_IPPCVEMERGED}
+  ${IPP_IPPCVMERGED}
+  
+  ${IPP_IPPMEMERGED}
+  ${IPP_IPPMMERGED}
+  
+  ${IPP_IPPDCEMERGED}
+  ${IPP_IPPDCMERGED}
+  
+  ${IPP_IPPVCEMERGED}
+  ${IPP_IPPVCMERGED}
+  
+  ${IPP_IPPCCEMERGED}
+  ${IPP_IPPCCMERGED}
+  
+  ${IPP_IPPCHEMERGED}
+  ${IPP_IPPCHMERGED}
+  
+  ${IPP_IPPVMEMERGED}
+  ${IPP_IPPVMMERGED}
+  
+  ${IPP_IPPJEMERGED}
+  ${IPP_IPPJMERGED}
+  
+  ${IPP_IPPSREMERGED}
+  ${IPP_IPPSRMERGED}
+  
+  ${IPP_IPPSCEMERGED}
+  ${IPP_IPPSCMERGED}
+  
+  ${IPP_IPPIEMERGED}
+  ${IPP_IPPIMERGED}
+  
+  ${IPP_IPPSEMERGED} 
+  ${IPP_IPPSMERGED}
+  
+  ${IPP_IPPCORELMERGED}
+)
+
+FIND_LIBRARY( IPP_IPPACSHARED    NAMES    ippac   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCCSHARED    NAMES    ippcc   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCHSHARED    NAMES    ippch   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCORELSHARED NAMES    ippcore PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPCVSHARED    NAMES    ippcv   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPDCSHARED    NAMES    ippdc   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPISHARED     NAMES    ippi    PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPJSHARED     NAMES    ippj    PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPMSHARED     NAMES    ippm    PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSSHARED     NAMES    ipps    PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSCSHARED    NAMES    ippsc   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPSRSHARED    NAMES    ippsr   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPVCSHARED    NAMES    ippvc   PATHS ${IPP_LIBRARY_PATHS} )
+FIND_LIBRARY( IPP_IPPVMSHARED    NAMES    ippvm   PATHS ${IPP_LIBRARY_PATHS} )
+
+SET(
+  IPP_SHARED_LIBRARIES
+  ${IPP_IPPACSHARED}
+  ${IPP_IPPCCSHARED}
+  ${IPP_IPPCHSHARED}
+  ${IPP_IPPCORELSHARED}
+  ${IPP_IPPCVSHARED}
+  ${IPP_IPPDCSHARED}
+  ${IPP_IPPISHARED}
+  ${IPP_IPPJSHARED}
+  ${IPP_IPPMSHARED}
+  ${IPP_IPPSSHARED}
+  ${IPP_IPPSCSHARED}
+  ${IPP_IPPSRSHARED}
+  ${IPP_IPPVCSHARED}
+  ${IPP_IPPVMSHARED}
+)
+
+SET( IPP_FOUND 0 )
+IF( EXISTS "${IPP_INCLUDE_DIR}" )
+  SET( IPP_FOUND 1 )
+	ADD_DEFINITIONS( -DHAVE_IPP )
+  INCLUDE_DIRECTORIES(
+    ${IPP_INCLUDE_DIR}
+  )
+ENDIF( EXISTS "${IPP_INCLUDE_DIR}" )
+
+ENDIF( NOT IPP_FOUND )
\ No newline at end of file
diff --git a/buildtools/gt.cmake b/buildtools/gt.cmake
index ed25c8bb9..13146b809 100644
--- a/buildtools/gt.cmake
+++ b/buildtools/gt.cmake
@@ -37,13 +37,17 @@ 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)
+    if(ARGN)
+        find_package(Boost REQUIRED COMPONENTS ${ARGN})
+    else()
+        find_package(Boost REQUIRED)
+    endif()
     link_directories(${Boost_LIBRARY_DIRS})
     include_directories(${Boost_INCLUDE_DIRS})
     link_libraries(${Boost_LIBRARIES})
 endfunction(GT_USE_BOOST)
 function(GT_USE_QT4)
-    find_package(Qt4 COMPONENTS QtCore QtGui ${ARGN} REQUIRED)
+    find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui ${ARGN})
     include(${QT_USE_FILE})
     link_libraries(${QT_LIBRARIES})
 endfunction(GT_USE_QT4)
@@ -53,6 +57,12 @@ function(GT_USE_OPENCV)
     include_directories(${OpenCV_INCLUDE_DIRS})
     link_libraries(${OpenCV_LIBRARIES)
 endfunction(GT_USE_OPENCV)
+function(GT_USE_IPP)
+    find_package(IPP REQUIRED)
+    link_directories(${IPP_LIBRARY_PATHS})
+    include_directories(${IPP_INCLUDE_PATHS})
+    link_libraries(${IPP_SHARED_LIBRARIES})
+endfunction()
 function(GT_USE_GTSAM)
     link_libraries("gtsam")
 endfunction(GT_USE_GTSAM)
@@ -62,7 +72,7 @@ endfunction(GT_USE_EASY2D)
 
 
 ############
-### Main target functions, calling one of these will replace the previous main target.
+### Main target functions, only call one of these.
 
 # Set the "excluded" sources, i.e. unit tests
 function(GT_EXCLUDE)
@@ -101,10 +111,17 @@ endfunction(GT_MAIN_SOURCES_HELPER)
 
 # Add headers to be installed
 function(GT_INSTALL_HEADERS)
+    list(GET ARGN 0 arg1)
+    if(${arg1} STREQUAL "PREFIX")
+        list(GET ARGN 1 prefix)
+        list(REMOVE_AT ARGN 0 1)
+    else(${arg1} STREQUAL "PREFIX")
+        set(prefix "")
+    endif(${arg1} STREQUAL "PREFIX")
     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}")
+        install(FILES ${srcs} DESTINATION "include/${PROJECT_NAME}/${prefix}")
     endforeach(srcpat)
 endfunction(GT_INSTALL_HEADERS)