diff --git a/.gitignore b/.gitignore
index 60c08359..014f49dc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -186,3 +186,4 @@ structured-build/calcTexCoordBundler
 /VisualSFM
 /nv.ini
 /kd
+/builddir
diff --git a/ANNWrapper.cpp b/ANNWrapper.cpp
index afe99637..21bbd49c 100644
--- a/ANNWrapper.cpp
+++ b/ANNWrapper.cpp
@@ -1,5 +1,4 @@
 #include "ANNWrapper.h"
-
 ANNWrapper::ANNWrapper()
 {
 	m_anything_to_free = false;
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 20b51828..0e155e84 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,7 @@ PROJECT(threadedStereo)
 SET(THREADED_STEREO_LIB "ts")
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
-
+set(CMAKE_CXX_STANDARD 98)
 # This can removed if the required cmake version is increased to 2.6
 IF(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0003 NEW)
@@ -30,6 +30,7 @@ include(ExternalProject)
 FIND_PACKAGE( OpenCV REQUIRED )
 pkg_check_modules(GOBJ REQUIRED gobject-2.0)
 pkg_check_modules(GLIB2 REQUIRED  glib-2.0)
+pkg_check_modules(ZLIB REQUIRED zlib)
 set(OSG_COMPONENTS osg osgUtil osgViewer osgGA osgManipulator osgText osgDB)
 find_package(OpenSceneGraph REQUIRED COMPONENTS ${OSG_COMPONENTS})
 #GDAL
@@ -57,19 +58,12 @@ ENDIF(INSOURCE)
 #   eg. cmake . -DCMAKE_BUILD_TYPE=Release -DDEBUG_PROFILING=on
     
 
-# Build types are: Release, Debug, RelWithDebInfo, MinSizeRel
-IF( NOT CMAKE_BUILD_TYPE )
- SET( CMAKE_BUILD_TYPE Release )  
-ENDIF( NOT CMAKE_BUILD_TYPE )
 
 
 #-----------------------#
 # Installation Options  #
 #-----------------------#
 
-IF( NOT CMAKE_INSTALL_PREFIX )
-   SET( CMAKE_INSTALL_PREFIX "/usr/local" )
-ENDIF( NOT CMAKE_INSTALL_PREFIX )
 
 IF(USE_AUV_FOR_STEREO)
 message("Using AUV Code for Stereo")
@@ -352,7 +346,6 @@ stereo_dense.cpp
 image_rect.cpp
    ANNWrapper.cpp             
 )
-ADD_DEFINITIONS( "-g")
 ADD_LIBRARY( ${THREADED_STEREO_LIB} STATIC ${SRCS} ${SPINDEX_SRC})
 TARGET_LINK_LIBRARIES (${THREADED_STEREO_LIB} ${THREADED_STEREO_LIB}-sonar)
 ADD_EXECUTABLE( ${CMAKE_PROJECT_NAME} threadedStereo.cpp ShellCmd.cpp )
@@ -386,7 +379,7 @@ ADD_EXECUTABLE(genOverlappingPoses genOverlappingPoses.cpp)
 
 #ADD_EXECUTABLE(temp temp.cpp)
 TARGET_LINK_LIBRARIES( genOverlappingPoses ${THREADED_STEREO_LIB} )
-SET(OGF_LIBS basic math  cells  numeric_stuff image z  m )
+SET(OGF_LIBS basic math  cells  numeric_stuff image ${ZLIB_LIBRARIES} )
 LINK_LIBRARIES(osgTerrain  osgFX osg  spindex vips vipsCC)
 TARGET_LINK_LIBRARIES( ${CMAKE_PROJECT_NAME} ${THREADED_STEREO_LIB}  vips vipsCC vpb spindex  ${THREADED_STEREO_LIB}-sonar ${OGF_LIBS})
 #TARGET_LINK_LIBRARIES( engine ${THREADED_STEREO_LIB}  vips vipsCC vpb spindex)
@@ -412,10 +405,10 @@ TARGET_LINK_LIBRARIES( calcTexCoordDidson ${THREADED_STEREO_LIB} spindex vpb vip
 
 TARGET_LINK_LIBRARIES( singleImageTex ${THREADED_STEREO_LIB} spindex vpb vips vipsCC  ${OGF_LIBS})
 TARGET_LINK_LIBRARIES( borderClip ${THREADED_STEREO_LIB} spindex )
-TARGET_LINK_LIBRARIES( dumpPCD vips vipsCC ${THREADED_STEREO_LIB} z)
+TARGET_LINK_LIBRARIES( dumpPCD vips vipsCC ${THREADED_STEREO_LIB} ${ZLIB_LIBRARIES})
 
-TARGET_LINK_LIBRARIES( dicedImage vips vipsCC ${THREADED_STEREO_LIB} z)
-TARGET_LINK_LIBRARIES( sparseJoin vips vipsCC ${THREADED_STEREO_LIB} z)
+TARGET_LINK_LIBRARIES( dicedImage vips vipsCC ${THREADED_STEREO_LIB} ${ZLIB_LIBRARIES})
+TARGET_LINK_LIBRARIES( sparseJoin vips vipsCC ${THREADED_STEREO_LIB} ${ZLIB_LIBRARIES})
 
 #TARGET_LINK_LIBRARIES( threshold ${THREADED_STEREO_LIB} )
 
diff --git a/doc/building/#building.org# b/doc/building/#building.org#
new file mode 100644
index 00000000..4829a3cf
--- /dev/null
+++ b/doc/building/#building.org#
@@ -0,0 +1,20 @@
+First build requirements listed in [[file:requirements.org]].
+
+#+title: Building
+#+begin_src fish
+  mkdir builddir
+  cd builddir
+  cmake -DCMAKE_PREFIX_PATH=$HOME/.local -GNinja ..
+  cmake --build .
+#+end_src
+
+
+*** notes
+
+There's a lot of "legacy" linking in the cmake files, that is linking a library like:
+#+BEGIN_SRC cmake
+target_link_libraries(whatever osg)
+#+END_SRC
+where osg is not a cmake target. This causes -losg to be added to the compiler command line,
+which can cause unexpected symbol search issues. You can set the environment variable ~LIBRARY_PATH~ to
+work around this
diff --git a/doc/building/building.org b/doc/building/building.org
new file mode 100644
index 00000000..7ddae0cb
--- /dev/null
+++ b/doc/building/building.org
@@ -0,0 +1,20 @@
+#+title: Building
+
+First build requirements listed in [[file:requirements.org]].
+#+begin_src fish
+  mkdir builddir
+  cd builddir
+  cmake -DCMAKE_PREFIX_PATH=$HOME/.local -GNinja ..
+  cmake --build .
+#+end_src
+
+
+*** notes
+
+There's a lot of "legacy" linking in the cmake files, that is linking a library like:
+#+BEGIN_SRC cmake
+target_link_libraries(whatever osg)
+#+END_SRC
+where osg is not a cmake target. This causes -losg to be added to the compiler command line,
+which can cause unexpected symbol search issues. You can set the environment variable ~LIBRARY_PATH~ to
+work around this
diff --git a/doc/building/requirements.org b/doc/building/requirements.org
new file mode 100644
index 00000000..ec9d91de
--- /dev/null
+++ b/doc/building/requirements.org
@@ -0,0 +1,11 @@
+#+title: Requirements
+#+description: build requirements for structured
+#+keywords: build, dependencies, requirements
+#+language: en
+#+author: Charles Barto
+
+This file lists working versions of required libraries,
+other versions may also work
+
++ opencv 2.4
++ OpenSceneGraph 3.2
diff --git a/gts-0.7.6/CMakeLists.txt b/gts-0.7.6/CMakeLists.txt
index 01324f11..fe22eaad 100644
--- a/gts-0.7.6/CMakeLists.txt
+++ b/gts-0.7.6/CMakeLists.txt
@@ -4,6 +4,7 @@
 #configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake ${CMAKE_CURRENT_BINARY_DIR}/config.h)
 
 include(CheckIncludeFile)
+include(CheckFunctionExists)
 
 check_function_exists (getopt_long  HAVE_GETOPT_LONG)
 check_function_exists (getpagesize  HAVE_GETPAGESIZE)
diff --git a/ts-sonar/CMakeLists.txt b/ts-sonar/CMakeLists.txt
index 7a99d876..aa2cba3e 100644
--- a/ts-sonar/CMakeLists.txt
+++ b/ts-sonar/CMakeLists.txt
@@ -1,6 +1,5 @@
 file(GLOB implem_files *.cpp)
 file(GLOB header_files *.h)
-
 set(LIB_NAME ${THREADED_STEREO_LIB}-sonar)
 
 include_directories (${EIGEN3_INCLUDE_DIRS})
diff --git a/vcgapps/numeric_stuff/ACE/amg_eigen_computation.cpp b/vcgapps/numeric_stuff/ACE/amg_eigen_computation.cpp
index ddb2c428..7e097eb6 100644
--- a/vcgapps/numeric_stuff/ACE/amg_eigen_computation.cpp
+++ b/vcgapps/numeric_stuff/ACE/amg_eigen_computation.cpp
@@ -1,5 +1,6 @@
 #include <stdio.h>
 #include <math.h>
+#include <iostream>
 #include <malloc.h>
 #include <time.h>
 #include "defs.h"
@@ -11,7 +12,6 @@
 #include "coarsen_amg.h"
 #include "coarsen_match.h"
 #include "RQI/rqi.h"
-#include <iostream>
 
 
 /********************************************
diff --git a/vrip/src/vrip/CMakeLists.txt b/vrip/src/vrip/CMakeLists.txt
index 03c50afd..2f8ac1a6 100644
--- a/vrip/src/vrip/CMakeLists.txt
+++ b/vrip/src/vrip/CMakeLists.txt
@@ -7,7 +7,8 @@ message(FATAL_ERROR "csh is required please install")
 ENDIF()
 SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/vrip/src/vrip)
 
-INCLUDE_DIRECTORIES( . ${TCL_INCLUDE_PATH} ${TK_INCLUDE_PATH})
+#set(CMAKE_INCLUDE_CURRENT_DIR ON)
+INCLUDE_DIRECTORIES( ${TCL_INCLUDE_PATH} ${TK_INCLUDE_PATH})
 file(COPY vripnew.csh DESTINATION ${PROJECT_SOURCE_DIR}/vrip/bin/)
 file(COPY vripsurf.csh DESTINATION ${PROJECT_SOURCE_DIR}/vrip/bin/)
 file(RENAME ${PROJECT_SOURCE_DIR}/vrip/bin/vripnew.csh ${PROJECT_SOURCE_DIR}/vrip/bin/vripnew )
diff --git a/vrip/src/vrip/strings.h b/vrip/src/vrip/strings.h
index d653d655..bfaf6a68 100644
--- a/vrip/src/vrip/strings.h
+++ b/vrip/src/vrip/strings.h
@@ -1,3 +1,4 @@
+
 /* module: strings.h */
 
 /* @(#)strings.h	1.25 */
diff --git a/vrip/src/vrip/vripGUICmds.h b/vrip/src/vrip/vripGUICmds.h
index a9601f0e..2a14f011 100644
--- a/vrip/src/vrip/vripGUICmds.h
+++ b/vrip/src/vrip/vripGUICmds.h
@@ -20,7 +20,7 @@ CONCERNING THIS SOFTWARE.  No support is implied or provided.
 
 
 #include <tcl.h>
-#include <DepthMap.h>
+#include "DepthMap.h"
 
 int Vrip_PhotoSliceCmd(ClientData, Tcl_Interp *interp, 
 		      int argc, const char *argv[]);
diff --git a/vsfm/CMakeLists.txt b/vsfm/CMakeLists.txt
index 0011ba74..955ad3ec 100644
--- a/vsfm/CMakeLists.txt
+++ b/vsfm/CMakeLists.txt
@@ -1,4 +1,6 @@
 set(LIB_DIR ${PROJECT_SOURCE_DIR}/vsfm/lib/)
-FIND_PACKAGE(GTK2 REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(x11 REQUIRED IMPORTED_TARGET x11)
+pkg_check_modules(gtk2 REQUIRED IMPORTED_TARGET gtk+-2.0)
 add_executable(VisualSFM dummy.c)
-TARGET_LINK_LIBRARIES(VisualSFM ${LIB_DIR}/VisualSFM.a  ${LIB_DIR}/lapack.a  ${LIB_DIR}/blas.a ${LIB_DIR}/libf2c.a ${LIB_DIR}/libjpeg.a ${GTK2_LIBRARIES} gthread-2.0)
\ No newline at end of file
+TARGET_LINK_LIBRARIES(VisualSFM ${LIB_DIR}/VisualSFM.a  ${LIB_DIR}/lapack.a  ${LIB_DIR}/blas.a ${LIB_DIR}/libf2c.a ${LIB_DIR}/libjpeg.a ${GTK2_LIBRARIES} gthread-2.0 PkgConfig::x11 PkgConfig::gtk2)