diff --git a/CMakeLists.txt b/CMakeLists.txt
index d832750163..aca1452f41 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,47 +1,51 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.1)
 project(ORB_SLAM2)
 
-IF(NOT CMAKE_BUILD_TYPE)
-  SET(CMAKE_BUILD_TYPE Release)
-ENDIF()
-
-MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
-
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
-
-# Check C++11 or C++0x support
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
-elseif(COMPILER_SUPPORTS_CXX0X)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-   add_definitions(-DCOMPILEDWITHC0X)
-   message(STATUS "Using flag -std=c++0x.")
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+message("Build type: " ${CMAKE_BUILD_TYPE})
+
+if(UNIX)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
+    
+    # Check C++11 or C++0x support
+    include(CheckCXXCompilerFlag)
+
+    CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+    CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+    if(COMPILER_SUPPORTS_CXX11)
+       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+       add_definitions(-DCOMPILEDWITHC11)
+       message(STATUS "Using flag -std=c++11.")
+    elseif(COMPILER_SUPPORTS_CXX0X)
+       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+       add_definitions(-DCOMPILEDWITHC0X)
+       message(STATUS "Using flag -std=c++0x.")
+    else()
+       message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+    endif()
 else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    add_definitions(-DCOMPILEDWITHC11)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
 endif()
 
-LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 2.4.3 REQUIRED)
-find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 3.1.0 REQUIRED)
 
-include_directories(
-${PROJECT_SOURCE_DIR}
-${PROJECT_SOURCE_DIR}/include
-${EIGEN3_INCLUDE_DIR}
-${Pangolin_INCLUDE_DIRS}
-)
-
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+# DBoW2 target
+add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/)
+# g2o target
+add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/g2o/)
 
-add_library(${PROJECT_NAME} SHARED
+add_library(ORB_SLAM2 SHARED
 src/System.cc
 src/Tracking.cc
 src/LocalMapping.cc
@@ -63,35 +67,60 @@ src/Initializer.cc
 src/Viewer.cc
 )
 
-target_link_libraries(${PROJECT_NAME}
+target_include_directories(ORB_SLAM2 PUBLIC
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${OpenCV_INCLUDE_DIRS}
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIR}
+${PROJECT_BINARY_DIR}
+)
+
+target_link_libraries(ORB_SLAM2
 ${OpenCV_LIBS}
 ${EIGEN3_LIBS}
 ${Pangolin_LIBRARIES}
-${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+DBoW2
+g2o
 )
 
-# Build examples
+include(GenerateExportHeader)
+set_target_properties(ORB_SLAM2 PROPERTIES CXX_VISIBILITY_PRESET hidden)
+set_target_properties(ORB_SLAM2 PROPERTIES VISIBILITY_INLINES_HIDDEN 1)
+generate_export_header(ORB_SLAM2)
+
+install(TARGETS ORB_SLAM2
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/ORB_SLAM2/
+  FILES_MATCHING PATTERN "*.h")
+install(FILES ${PROJECT_BINARY_DIR}/orb_slam2_export.h 
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/ORB_SLAM2/)
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
+# Build examples
 
 add_executable(rgbd_tum
 Examples/RGB-D/rgbd_tum.cc)
-target_link_libraries(rgbd_tum ${PROJECT_NAME})
-
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
+target_link_libraries(rgbd_tum ORB_SLAM2)
 
 add_executable(stereo_kitti
 Examples/Stereo/stereo_kitti.cc)
-target_link_libraries(stereo_kitti ${PROJECT_NAME})
-
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
+target_link_libraries(stereo_kitti ORB_SLAM2)
 
 add_executable(mono_tum
 Examples/Monocular/mono_tum.cc)
-target_link_libraries(mono_tum ${PROJECT_NAME})
-
+target_link_libraries(mono_tum ORB_SLAM2)
+ 
 add_executable(mono_kitti
 Examples/Monocular/mono_kitti.cc)
-target_link_libraries(mono_kitti ${PROJECT_NAME})
+target_link_libraries(mono_kitti ORB_SLAM2)
+
+install(TARGETS 
+    rgbd_tum
+    stereo_kitti
+    mono_tum
+    mono_kitti
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin )
 
diff --git a/Examples/Monocular/mono_kitti.cc b/Examples/Monocular/mono_kitti.cc
index 665fd8c72f..c116189984 100644
--- a/Examples/Monocular/mono_kitti.cc
+++ b/Examples/Monocular/mono_kitti.cc
@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include<thread>
 #include<iomanip>
 
 #include<opencv2/core/core.hpp>
@@ -101,7 +102,7 @@ int main(int argc, char **argv)
             T = tframe-vTimestamps[ni-1];
 
         if(ttrack<T)
-            usleep((T-ttrack)*1e6);
+            std::this_thread::sleep_for(std::chrono::microseconds((size_t)((T-ttrack)*1e6)));
     }
 
     // Stop all threads
diff --git a/Examples/Monocular/mono_tum.cc b/Examples/Monocular/mono_tum.cc
index 09a2afc4b7..7f0e493c0b 100644
--- a/Examples/Monocular/mono_tum.cc
+++ b/Examples/Monocular/mono_tum.cc
@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include<thread>
 
 #include<opencv2/core/core.hpp>
 
@@ -102,7 +103,7 @@ int main(int argc, char **argv)
             T = tframe-vTimestamps[ni-1];
 
         if(ttrack<T)
-            usleep((T-ttrack)*1e6);
+            std::this_thread::sleep_for(std::chrono::microseconds((size_t)((T-ttrack)*1e6)));
     }
 
     // Stop all threads
diff --git a/Examples/RGB-D/rgbd_tum.cc b/Examples/RGB-D/rgbd_tum.cc
index 6af5bf3317..5c80b93e53 100644
--- a/Examples/RGB-D/rgbd_tum.cc
+++ b/Examples/RGB-D/rgbd_tum.cc
@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include<thread>
 
 #include<opencv2/core/core.hpp>
 
@@ -115,7 +116,7 @@ int main(int argc, char **argv)
             T = tframe-vTimestamps[ni-1];
 
         if(ttrack<T)
-            usleep((T-ttrack)*1e6);
+            std::this_thread::sleep_for(std::chrono::microseconds((size_t)((T-ttrack)*1e6)));
     }
 
     // Stop all threads
diff --git a/Examples/Stereo/stereo_kitti.cc b/Examples/Stereo/stereo_kitti.cc
index c63133b544..26daa8b0b2 100644
--- a/Examples/Stereo/stereo_kitti.cc
+++ b/Examples/Stereo/stereo_kitti.cc
@@ -24,6 +24,7 @@
 #include<fstream>
 #include<iomanip>
 #include<chrono>
+#include<thread>
 
 #include<opencv2/core/core.hpp>
 
@@ -104,7 +105,7 @@ int main(int argc, char **argv)
             T = tframe-vTimestamps[ni-1];
 
         if(ttrack<T)
-            usleep((T-ttrack)*1e6);
+            std::this_thread::sleep_for(std::chrono::microseconds((size_t)((T-ttrack)*1e6)));
     }
 
     // Stop all threads
diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/Thirdparty/DBoW2/CMakeLists.txt
index 4da56b2bcd..0a5109ff10 100644
--- a/Thirdparty/DBoW2/CMakeLists.txt
+++ b/Thirdparty/DBoW2/CMakeLists.txt
@@ -1,8 +1,9 @@
 cmake_minimum_required(VERSION 2.8)
 project(DBoW2)
-
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
+if(UNIX)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
+endif()
 
 set(HDRS_DBOW2
   DBoW2/BowVector.h
@@ -26,9 +27,23 @@ set(SRCS_DUTILS
 
 find_package(OpenCV REQUIRED)
 
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-include_directories(${OpenCV_INCLUDE_DIRS})
 add_library(DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS})
 target_link_libraries(DBoW2 ${OpenCV_LIBS})
+target_include_directories(DBoW2 PUBLIC
+  ${PROJECT_BINARY_DIR}
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+include(GenerateExportHeader)
+set(CMAKE_CXX_VISIBILITY_PRESET hidden)
+set(CMAKE_VISIBILITY_INLINES_HIDDEN 1)
+generate_export_header(DBoW2)
 
+install(TARGETS ${PROJECT_NAME} 
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+install(FILES ${HDRS_DBOW2} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/ORB_SLAM2/Thirdparty/DBoW2/DBoW2)
+install(FILES ${HDRS_DUTILS} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/ORB_SLAM2/Thirdparty/DBoW2/DUtils)
+install(FILES ${PROJECT_BINARY_DIR}/dbow2_export.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/ORB_SLAM2/Thirdparty/DBoW2/)
+  
\ No newline at end of file
diff --git a/Thirdparty/DBoW2/DBoW2/BowVector.h b/Thirdparty/DBoW2/DBoW2/BowVector.h
index f559811deb..9cbc8def53 100644
--- a/Thirdparty/DBoW2/DBoW2/BowVector.h
+++ b/Thirdparty/DBoW2/DBoW2/BowVector.h
@@ -14,6 +14,8 @@
 #include <map>
 #include <vector>
 
+#include "dbow2_export.h"
+
 namespace DBoW2 {
 
 /// Id of words
@@ -53,7 +55,7 @@ enum ScoringType
 };
 
 /// Vector of words to represent images
-class BowVector: 
+class DBOW2_EXPORT BowVector: 
 	public std::map<WordId, WordValue>
 {
 public:
diff --git a/Thirdparty/DBoW2/DBoW2/FClass.h b/Thirdparty/DBoW2/DBoW2/FClass.h
index 13be53d753..c6455ddba9 100644
--- a/Thirdparty/DBoW2/DBoW2/FClass.h
+++ b/Thirdparty/DBoW2/DBoW2/FClass.h
@@ -14,6 +14,8 @@
 #include <vector>
 #include <string>
 
+#include "dbow2_export.h"
+
 namespace DBoW2 {
 
 /// Generic class to encapsulate functions to manage descriptors.
@@ -22,7 +24,7 @@ namespace DBoW2 {
  * parameter F when creating Templated structures
  * (TemplatedVocabulary, TemplatedDatabase, ...)
  */
-class FClass
+class DBOW2_EXPORT FClass
 {
   class TDescriptor;
   typedef const TDescriptor *pDescriptor;
diff --git a/Thirdparty/DBoW2/DBoW2/FORB.cpp b/Thirdparty/DBoW2/DBoW2/FORB.cpp
index 1f1990c2f7..b78c2d1ee2 100644
--- a/Thirdparty/DBoW2/DBoW2/FORB.cpp
+++ b/Thirdparty/DBoW2/DBoW2/FORB.cpp
@@ -13,7 +13,7 @@
 #include <vector>
 #include <string>
 #include <sstream>
-#include <stdint-gcc.h>
+#include <cstdint>
 
 #include "FORB.h"
 
diff --git a/Thirdparty/DBoW2/DBoW2/FORB.h b/Thirdparty/DBoW2/DBoW2/FORB.h
index a39599f20e..5ff68dde42 100644
--- a/Thirdparty/DBoW2/DBoW2/FORB.h
+++ b/Thirdparty/DBoW2/DBoW2/FORB.h
@@ -15,11 +15,12 @@
 #include <string>
 
 #include "FClass.h"
+#include "dbow2_export.h"
 
 namespace DBoW2 {
 
 /// Functions to manipulate ORB descriptors
-class FORB: protected FClass
+class DBOW2_EXPORT FORB: protected FClass
 {
 public:
 
diff --git a/Thirdparty/DBoW2/DBoW2/FeatureVector.h b/Thirdparty/DBoW2/DBoW2/FeatureVector.h
index 08a91def7c..04962174ae 100644
--- a/Thirdparty/DBoW2/DBoW2/FeatureVector.h
+++ b/Thirdparty/DBoW2/DBoW2/FeatureVector.h
@@ -15,10 +15,12 @@
 #include <vector>
 #include <iostream>
 
+#include "dbow2_export.h"
+
 namespace DBoW2 {
 
 /// Vector of nodes with indexes of local features
-class FeatureVector: 
+class DBOW2_EXPORT FeatureVector: 
   public std::map<NodeId, std::vector<unsigned int> >
 {
 public:
diff --git a/Thirdparty/DBoW2/DBoW2/ScoringObject.h b/Thirdparty/DBoW2/DBoW2/ScoringObject.h
index 8d5b82192a..e2be440654 100644
--- a/Thirdparty/DBoW2/DBoW2/ScoringObject.h
+++ b/Thirdparty/DBoW2/DBoW2/ScoringObject.h
@@ -11,11 +11,12 @@
 #define __D_T_SCORING_OBJECT__
 
 #include "BowVector.h"
+#include "dbow2_export.h"
 
 namespace DBoW2 {
 
 /// Base class of scoring functions
-class GeneralScoring
+class DBOW2_EXPORT GeneralScoring
 {
 public:
   /**
@@ -71,22 +72,22 @@ class GeneralScoring
   }
   
 /// L1 Scoring object
-class __SCORING_CLASS(L1Scoring, true, L1);
+class DBOW2_EXPORT  __SCORING_CLASS(L1Scoring, true, L1);
 
 /// L2 Scoring object
-class __SCORING_CLASS(L2Scoring, true, L2);
+class DBOW2_EXPORT __SCORING_CLASS(L2Scoring, true, L2);
 
 /// Chi square Scoring object
-class __SCORING_CLASS(ChiSquareScoring, true, L1);
+class DBOW2_EXPORT __SCORING_CLASS(ChiSquareScoring, true, L1);
 
 /// KL divergence Scoring object
-class __SCORING_CLASS(KLScoring, true, L1);
+class DBOW2_EXPORT __SCORING_CLASS(KLScoring, true, L1);
 
 /// Bhattacharyya Scoring object
-class __SCORING_CLASS(BhattacharyyaScoring, true, L1);
+class DBOW2_EXPORT __SCORING_CLASS(BhattacharyyaScoring, true, L1);
 
 /// Dot product Scoring object
-class __SCORING_CLASS(DotProductScoring, false, L1);
+class DBOW2_EXPORT __SCORING_CLASS(DotProductScoring, false, L1);
 
 #undef __SCORING_CLASS
   
diff --git a/Thirdparty/DBoW2/DUtils/Random.h b/Thirdparty/DBoW2/DUtils/Random.h
index 5115dc47c2..120a05c574 100644
--- a/Thirdparty/DBoW2/DUtils/Random.h
+++ b/Thirdparty/DBoW2/DUtils/Random.h
@@ -15,10 +15,12 @@
 #include <cstdlib>
 #include <vector>
 
+#include "dbow2_export.h"
+
 namespace DUtils {
 
 /// Functions to generate pseudo-random numbers
-class Random
+class DBOW2_EXPORT Random
 {
 public:
   class UnrepeatedRandomizer;
@@ -109,7 +111,7 @@ class Random
 // ---------------------------------------------------------------------------
 
 /// Provides pseudo-random numbers with no repetitions
-class Random::UnrepeatedRandomizer
+class DBOW2_EXPORT Random::UnrepeatedRandomizer
 {
 public:
 
diff --git a/Thirdparty/DBoW2/DUtils/Timestamp.h b/Thirdparty/DBoW2/DUtils/Timestamp.h
index b92f89f872..a9fe805301 100644
--- a/Thirdparty/DBoW2/DUtils/Timestamp.h
+++ b/Thirdparty/DBoW2/DUtils/Timestamp.h
@@ -11,12 +11,15 @@
 #define __D_TIMESTAMP__
 
 #include <iostream>
+
+#include "dbow2_export.h"
+
 using namespace std;
 
 namespace DUtils {
 
 /// Timestamp
-class Timestamp
+class DBOW2_EXPORT Timestamp
 {
 public:
 
diff --git a/Thirdparty/Pangolin/CMakeLists.txt b/Thirdparty/Pangolin/CMakeLists.txt
new file mode 100644
index 0000000000..c94139517c
--- /dev/null
+++ b/Thirdparty/Pangolin/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.1)
+project(PangolinBuild)
+
+include(ExternalProject)
+set(COMMON_CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+                      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                      -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
+                      -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
+                      -DCMAKE_LINKER=${CMAKE_LINKER}
+)
+
+find_package(GLEW REQUIRED)
+find_package(PythonLibs 2.7 REQUIRED)
+
+set(PANGOLIN_CMAKE_ARGS ${COMMON_CMAKE_ARGS} 
+    -DEIGEN3_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR}
+    -DGLEW_INCLUDE_DIR=${GLEW_INCLUDE_DIR}
+    -DGLEW_LIBRARY=${GLEW_LIBRARY}
+    -DPYTHON_LIBRARY=${PYTHON_LIBRARY}
+    -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE_DIR}
+    -DBUILD_SHARED_LIBS=True
+    -DCPP11_NO_BOOST=True
+    -DBUILD_PANGOLIN_VIDEO=True
+    -DBUILD_PANGOLIN_GUI=True
+    -DBUILD_EXAMPLES=False
+    -DBUILD_EXTERN_GLEW=False
+    -DBUILD_EXTERN_LIBJPEG=False
+    -DBUILD_EXTERN_LIBPNG=False)
+
+ExternalProject_Add(pangolin
+  URL https://github.com/stevenlovegrove/Pangolin/archive/v0.3.tar.gz
+  URL_HASH SHA256=8881c1102671ea99c241b273474ca7a5b3377fbde9c7d376253424c36d8ed678
+  CMAKE_ARGS ${PANGOLIN_CMAKE_ARGS}
+  BINARY_DIR ${CMAKE_BINARY_DIR}/Pangolin-build)
+
+if(WIN32)
+    ExternalProject_Add_Step(pangolin pangolinExportInstall 
+        COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_BINARY_DIR}/Pangolin-prefix/src/Pangolin-build/src/include/pangolin/pangolin_export.h"
+                "${CMAKE_INSTALL_PREFIX}/include/pangolin/pangolin_export.h"
+        COMMENT "Install pangolin_export"
+        DEPENDEES install)
+endif()
diff --git a/Thirdparty/g2o/CMakeLists.txt b/Thirdparty/g2o/CMakeLists.txt
index 5882a53ff2..c494f007c3 100644
--- a/Thirdparty/g2o/CMakeLists.txt
+++ b/Thirdparty/g2o/CMakeLists.txt
@@ -13,7 +13,11 @@ ENDIF()
 
 MESSAGE(STATUS "BUILD TYPE:" ${CMAKE_BUILD_TYPE})
 
-SET (G2O_LIB_TYPE SHARED)
+IF(WIN32)
+    SET(G2O_LIB_TYPE STATIC)
+ELSE()
+    SET(G2O_LIB_TYPE SHARED)
+ENDIF()
 
 # There seems to be an issue with MSVC8
 # see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=83
@@ -22,16 +26,6 @@ if(MSVC90)
   message(STATUS "Disabling memory alignment for MSVC8")
 endif(MSVC90)
 
-# Set the output directory for the build executables and libraries
-IF(WIN32)
-  SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
-ELSE(WIN32)
-  SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
-ENDIF(WIN32)
-SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
-
 # Set search directory for looking for our custom CMake scripts to
 # look for SuiteSparse, QGLViewer, and Eigen3.
 LIST(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules)
@@ -43,8 +37,8 @@ IF(UNIX)
 ENDIF(UNIX)
 
 # For building the CHOLMOD / CSPARSE solvers
-FIND_PACKAGE(BLAS REQUIRED)
-FIND_PACKAGE(LAPACK REQUIRED)
+FIND_PACKAGE(BLAS)
+FIND_PACKAGE(LAPACK)
 
 # Eigen library parallelise itself, though, presumably due to performance issues
 # OPENMP is experimental. We experienced some slowdown with it
@@ -61,9 +55,11 @@ ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)
 SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native") 
 SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native") 
 
-# activate warnings !!!
-SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W")
-SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W")
+if(UNIX)
+    # activate warnings !!!
+    SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W")
+    SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W")
+endif()
 
 # specifying compiler flags
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
@@ -176,3 +172,12 @@ g2o/stuff/string_tools.cpp
 g2o/stuff/property.cpp       
 g2o/stuff/property.h       
 )
+
+# Set the output directory for the build executables and libraries
+install(TARGETS g2o
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+install(DIRECTORY ${PROJECT_SOURCE_DIR}
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/ORB_SLAM2/Thirdparty/
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")
diff --git a/Thirdparty/g2o/g2o/core/estimate_propagator.h b/Thirdparty/g2o/g2o/core/estimate_propagator.h
index 6a16d11d3a..eb2a494afd 100644
--- a/Thirdparty/g2o/g2o/core/estimate_propagator.h
+++ b/Thirdparty/g2o/g2o/core/estimate_propagator.h
@@ -33,12 +33,7 @@
 #include <map>
 #include <set>
 #include <limits>
-
-#ifdef _MSC_VER
 #include <unordered_map>
-#else
-#include <tr1/unordered_map>
-#endif
 
 namespace g2o {
 
@@ -135,7 +130,7 @@ namespace g2o {
           size_t operator ()(const OptimizableGraph::Vertex* v) const { return v->id();}
       };
 
-      typedef std::tr1::unordered_map<OptimizableGraph::Vertex*, AdjacencyMapEntry, VertexIDHashFunction> AdjacencyMap;
+      typedef std::unordered_map<OptimizableGraph::Vertex*, AdjacencyMapEntry, VertexIDHashFunction> AdjacencyMap;
 
     public:
       EstimatePropagator(OptimizableGraph* g);
diff --git a/Thirdparty/g2o/g2o/core/hyper_graph.h b/Thirdparty/g2o/g2o/core/hyper_graph.h
index da6bb3d361..8b87c63953 100644
--- a/Thirdparty/g2o/g2o/core/hyper_graph.h
+++ b/Thirdparty/g2o/g2o/core/hyper_graph.h
@@ -34,13 +34,7 @@
 #include <vector>
 #include <limits>
 #include <cstddef>
-
-#ifdef _MSC_VER
 #include <unordered_map>
-#else
-#include <tr1/unordered_map>
-#endif
-
 
 /** @addtogroup graph */
 //@{
@@ -90,7 +84,7 @@ namespace g2o {
       typedef std::set<Edge*>                           EdgeSet;
       typedef std::set<Vertex*>                         VertexSet;
 
-      typedef std::tr1::unordered_map<int, Vertex*>     VertexIDMap;
+      typedef std::unordered_map<int, Vertex*>     VertexIDMap;
       typedef std::vector<Vertex*>                      VertexContainer;
 
       //! abstract Vertex, your types must derive from that one
diff --git a/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h b/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h
index e7dfce88f8..73401dbd01 100644
--- a/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h
+++ b/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h
@@ -32,13 +32,7 @@
 
 #include <cassert>
 #include <vector>
-
-#ifdef _MSC_VER
 #include <unordered_map>
-#else
-#include <tr1/unordered_map>
-#endif
-
 
 namespace g2o {
 
@@ -50,7 +44,7 @@ namespace g2o {
       /**
        * hash struct for storing the matrix elements needed to compute the covariance
        */
-      typedef std::tr1::unordered_map<int, double>     LookupMap;
+      typedef std::unordered_map<int, double>     LookupMap;
     
     public:
       MarginalCovarianceCholesky();
diff --git a/Thirdparty/g2o/g2o/core/matrix_operations.h b/Thirdparty/g2o/g2o/core/matrix_operations.h
index 28e6fbefc7..a1082cf003 100644
--- a/Thirdparty/g2o/g2o/core/matrix_operations.h
+++ b/Thirdparty/g2o/g2o/core/matrix_operations.h
@@ -45,7 +45,7 @@ namespace g2o {
     }
 
     template<>
-    inline void axpy(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
+    inline void axpy<Eigen::MatrixXd>(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
     {
       y.segment(yoff, A.rows()) += A * x.segment(xoff, A.cols());
     }
@@ -63,7 +63,7 @@ namespace g2o {
     }
 
     template<>
-    inline void atxpy(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
+    inline void atxpy<Eigen::MatrixXd>(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
     {
       y.segment(yoff, A.cols()) += A.transpose() * x.segment(xoff, A.rows());
     }
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp b/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp
index a9be96e834..9a7bc9ee9c 100644
--- a/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp
+++ b/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp
@@ -26,6 +26,7 @@
 
 #include "optimization_algorithm_factory.h"
 
+#include <algorithm>
 #include <iostream>
 #include <typeinfo>
 #include <cassert>
diff --git a/Thirdparty/g2o/g2o/core/robust_kernel.h b/Thirdparty/g2o/g2o/core/robust_kernel.h
index 29e1394a0d..48634767f8 100644
--- a/Thirdparty/g2o/g2o/core/robust_kernel.h
+++ b/Thirdparty/g2o/g2o/core/robust_kernel.h
@@ -27,14 +27,9 @@
 #ifndef G2O_ROBUST_KERNEL_H
 #define G2O_ROBUST_KERNEL_H
 
-#ifdef _MSC_VER
 #include <memory>
-#else
-#include <tr1/memory>
-#endif
 #include <Eigen/Core>
 
-
 namespace g2o {
 
   /**
@@ -74,7 +69,7 @@ namespace g2o {
     protected:
       double _delta;
   };
-  typedef std::tr1::shared_ptr<RobustKernel> RobustKernelPtr;
+  typedef std::shared_ptr<RobustKernel> RobustKernelPtr;
 
 } // end namespace g2o
 
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp b/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp
index 8dfa99c1b7..469ad83ac6 100644
--- a/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp
+++ b/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp
@@ -274,9 +274,9 @@ namespace g2o {
         if (destOffset > srcOffset) // only upper triangle
           break;
         // destVec += *a * srcVec (according to the sub-vector parts)
-        internal::axpy(*a, srcVec, srcOffset, destVec, destOffset);
+        internal::template axpy<typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock>(*a, srcVec, srcOffset, destVec, destOffset);
         if (destOffset < srcOffset)
-          internal::atxpy(*a, srcVec, destOffset, destVec, srcOffset);
+          internal::template atxpy<typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock>(*a, srcVec, destOffset, destVec, srcOffset);
       }
     }
   }
@@ -305,7 +305,7 @@ namespace g2o {
         const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* a=it->second;
         int srcOffset = rowBaseOfBlock(it->first);
         // destVec += *a.transpose() * srcVec (according to the sub-vector parts)
-        internal::atxpy(*a, srcVec, srcOffset, destVec, destOffset);
+        internal::template atxpy<typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock>(*a, srcVec, srcOffset, destVec, destOffset);
       }
     }
     
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h b/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h
index eb9042c218..3a95bdabe5 100644
--- a/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h
+++ b/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h
@@ -34,11 +34,7 @@
 #include "../../config.h"
 #include "matrix_operations.h"
 
-#ifdef _MSC_VER
 #include <unordered_map>
-#else
-#include <tr1/unordered_map>
-#endif
 
 namespace g2o {
 
@@ -122,7 +118,7 @@ namespace g2o {
             const SparseMatrixBlock* a = it->block;
             int srcOffset = rowBaseOfBlock(it->row);
             // destVec += *a.transpose() * srcVec (according to the sub-vector parts)
-            internal::atxpy(*a, srcVec, srcOffset, destVec, destOffset);
+            internal::template atxpy<SparseMatrixBlock>(*a, srcVec, srcOffset, destVec, destOffset);
           }
         }
       }
@@ -223,7 +219,7 @@ namespace g2o {
       //! rows of the matrix
       int rows() const {return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;}
 
-      typedef std::tr1::unordered_map<int, MatrixType*> SparseColumn;
+      typedef std::unordered_map<int, MatrixType*> SparseColumn;
 
       SparseBlockMatrixHashMap(const std::vector<int>& rowIndices, const std::vector<int>& colIndices) :
         _rowBlockIndices(rowIndices), _colBlockIndices(colIndices)
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h b/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h
index 7b13b9f2f3..b658ea10b4 100644
--- a/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h
+++ b/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h
@@ -94,7 +94,7 @@ namespace g2o {
           int srcOffset = destOffset;
           const SparseMatrixBlock& A = _diagonal[i];
           // destVec += *A.transpose() * srcVec (according to the sub-vector parts)
-          internal::axpy(A, srcVec, srcOffset, destVec, destOffset);
+          internal::template axpy<SparseMatrixBlock>(A, srcVec, srcOffset, destVec, destOffset);
         }
       }
 
diff --git a/Thirdparty/g2o/g2o/stuff/string_tools.cpp b/Thirdparty/g2o/g2o/stuff/string_tools.cpp
index 0a4f60a277..fef69667e4 100644
--- a/Thirdparty/g2o/g2o/stuff/string_tools.cpp
+++ b/Thirdparty/g2o/g2o/stuff/string_tools.cpp
@@ -97,7 +97,7 @@ std::string formatString(const char* fmt, ...)
   char* auxPtr = NULL;
   va_list arg_list;
   va_start(arg_list, fmt);
-  int numChar = vasprintf(&auxPtr, fmt, arg_list);
+  int numChar = vsprintf(auxPtr, fmt, arg_list);
   va_end(arg_list);
   string retString;
   if (numChar != -1)
@@ -114,7 +114,7 @@ int strPrintf(std::string& str, const char* fmt, ...)
   char* auxPtr = NULL;
   va_list arg_list;
   va_start(arg_list, fmt);
-  int numChars = vasprintf(&auxPtr, fmt, arg_list);
+  int numChars = vsprintf(auxPtr, fmt, arg_list);
   va_end(arg_list);
   str = auxPtr;
   free(auxPtr);
diff --git a/include/Converter.h b/include/Converter.h
index 0002ad62c2..d5e514b3e2 100644
--- a/include/Converter.h
+++ b/include/Converter.h
@@ -27,10 +27,12 @@
 #include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
 #include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
 
+#include "orb_slam2_export.h"
+
 namespace ORB_SLAM2
 {
 
-class Converter
+class ORB_SLAM2_EXPORT Converter
 {
 public:
     static std::vector<cv::Mat> toDescriptorVector(const cv::Mat &Descriptors);
diff --git a/include/Frame.h b/include/Frame.h
index a6a8032f57..90f565c8d0 100644
--- a/include/Frame.h
+++ b/include/Frame.h
@@ -29,6 +29,7 @@
 #include "ORBVocabulary.h"
 #include "KeyFrame.h"
 #include "ORBextractor.h"
+#include "orb_slam2_export.h"
 
 #include <opencv2/opencv.hpp>
 
@@ -40,7 +41,7 @@ namespace ORB_SLAM2
 class MapPoint;
 class KeyFrame;
 
-class Frame
+class ORB_SLAM2_EXPORT Frame
 {
 public:
     Frame();
diff --git a/include/FrameDrawer.h b/include/FrameDrawer.h
index 95c1df9d9e..f6ab011656 100644
--- a/include/FrameDrawer.h
+++ b/include/FrameDrawer.h
@@ -24,6 +24,7 @@
 #include "Tracking.h"
 #include "MapPoint.h"
 #include "Map.h"
+#include "orb_slam2_export.h"
 
 #include<opencv2/core/core.hpp>
 #include<opencv2/features2d/features2d.hpp>
@@ -37,7 +38,7 @@ namespace ORB_SLAM2
 class Tracking;
 class Viewer;
 
-class FrameDrawer
+class ORB_SLAM2_EXPORT FrameDrawer
 {
 public:
     FrameDrawer(Map* pMap);
diff --git a/include/Initializer.h b/include/Initializer.h
index 09b27a65bb..acc4b69935 100644
--- a/include/Initializer.h
+++ b/include/Initializer.h
@@ -22,13 +22,13 @@
 
 #include<opencv2/opencv.hpp>
 #include "Frame.h"
-
+#include "orb_slam2_export.h"
 
 namespace ORB_SLAM2
 {
 
 // THIS IS THE INITIALIZER FOR MONOCULAR SLAM. NOT USED IN THE STEREO OR RGBD CASE.
-class Initializer
+class ORB_SLAM2_EXPORT Initializer
 {
     typedef pair<int,int> Match;
 
diff --git a/include/KeyFrame.h b/include/KeyFrame.h
index 67f4348273..212cdd2a93 100644
--- a/include/KeyFrame.h
+++ b/include/KeyFrame.h
@@ -28,6 +28,7 @@
 #include "ORBextractor.h"
 #include "Frame.h"
 #include "KeyFrameDatabase.h"
+#include "orb_slam2_export.h"
 
 #include <mutex>
 
@@ -40,7 +41,7 @@ class MapPoint;
 class Frame;
 class KeyFrameDatabase;
 
-class KeyFrame
+class ORB_SLAM2_EXPORT KeyFrame
 {
 public:
     KeyFrame(Frame &F, Map* pMap, KeyFrameDatabase* pKFDB);
diff --git a/include/KeyFrameDatabase.h b/include/KeyFrameDatabase.h
index fa3735762d..45d2050d11 100644
--- a/include/KeyFrameDatabase.h
+++ b/include/KeyFrameDatabase.h
@@ -28,6 +28,7 @@
 #include "KeyFrame.h"
 #include "Frame.h"
 #include "ORBVocabulary.h"
+#include "orb_slam2_export.h"
 
 #include<mutex>
 
@@ -39,7 +40,7 @@ class KeyFrame;
 class Frame;
 
 
-class KeyFrameDatabase
+class ORB_SLAM2_EXPORT KeyFrameDatabase
 {
 public:
 
diff --git a/include/LocalMapping.h b/include/LocalMapping.h
index 1361a5757a..74513da72b 100644
--- a/include/LocalMapping.h
+++ b/include/LocalMapping.h
@@ -26,6 +26,7 @@
 #include "LoopClosing.h"
 #include "Tracking.h"
 #include "KeyFrameDatabase.h"
+#include "orb_slam2_export.h"
 
 #include <mutex>
 
@@ -37,7 +38,7 @@ class Tracking;
 class LoopClosing;
 class Map;
 
-class LocalMapping
+class ORB_SLAM2_EXPORT LocalMapping
 {
 public:
     LocalMapping(Map* pMap, const float bMonocular);
diff --git a/include/LoopClosing.h b/include/LoopClosing.h
index b1736fed78..f79fc8a057 100644
--- a/include/LoopClosing.h
+++ b/include/LoopClosing.h
@@ -32,6 +32,7 @@
 #include <thread>
 #include <mutex>
 #include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
+#include "orb_slam2_export.h"
 
 namespace ORB_SLAM2
 {
@@ -41,7 +42,7 @@ class LocalMapping;
 class KeyFrameDatabase;
 
 
-class LoopClosing
+class ORB_SLAM2_EXPORT LoopClosing
 {
 public:
 
diff --git a/include/Map.h b/include/Map.h
index 49ffab7374..317d4665a9 100644
--- a/include/Map.h
+++ b/include/Map.h
@@ -23,6 +23,8 @@
 
 #include "MapPoint.h"
 #include "KeyFrame.h"
+#include "orb_slam2_export.h"
+
 #include <set>
 
 #include <mutex>
@@ -35,7 +37,7 @@ namespace ORB_SLAM2
 class MapPoint;
 class KeyFrame;
 
-class Map
+class ORB_SLAM2_EXPORT Map
 {
 public:
     Map();
diff --git a/include/MapDrawer.h b/include/MapDrawer.h
index 83b282676d..b90c3a08ca 100644
--- a/include/MapDrawer.h
+++ b/include/MapDrawer.h
@@ -24,6 +24,7 @@
 #include"Map.h"
 #include"MapPoint.h"
 #include"KeyFrame.h"
+#include"orb_slam2_export.h"
 #include<pangolin/pangolin.h>
 
 #include<mutex>
@@ -31,7 +32,7 @@
 namespace ORB_SLAM2
 {
 
-class MapDrawer
+class ORB_SLAM2_EXPORT MapDrawer
 {
 public:
     MapDrawer(Map* pMap, const string &strSettingPath);
diff --git a/include/MapPoint.h b/include/MapPoint.h
index 11568a504a..508c3c3eed 100644
--- a/include/MapPoint.h
+++ b/include/MapPoint.h
@@ -24,6 +24,7 @@
 #include"KeyFrame.h"
 #include"Frame.h"
 #include"Map.h"
+#include"orb_slam2_export.h"
 
 #include<opencv2/core/core.hpp>
 #include<mutex>
@@ -36,7 +37,7 @@ class Map;
 class Frame;
 
 
-class MapPoint
+class ORB_SLAM2_EXPORT MapPoint
 {
 public:
     MapPoint(const cv::Mat &Pos, KeyFrame* pRefKF, Map* pMap);
diff --git a/include/ORBextractor.h b/include/ORBextractor.h
index 66e8e7a547..f7d628b219 100644
--- a/include/ORBextractor.h
+++ b/include/ORBextractor.h
@@ -25,11 +25,12 @@
 #include <list>
 #include <opencv/cv.h>
 
+#include "orb_slam2_export.h"
 
 namespace ORB_SLAM2
 {
 
-class ExtractorNode
+class ORB_SLAM2_EXPORT ExtractorNode
 {
 public:
     ExtractorNode():bNoMore(false){}
diff --git a/include/ORBmatcher.h b/include/ORBmatcher.h
index ad881ee04a..595b9e1d6a 100644
--- a/include/ORBmatcher.h
+++ b/include/ORBmatcher.h
@@ -29,12 +29,12 @@
 #include"MapPoint.h"
 #include"KeyFrame.h"
 #include"Frame.h"
-
+#include"orb_slam2_export.h"
 
 namespace ORB_SLAM2
 {
 
-class ORBmatcher
+class ORB_SLAM2_EXPORT ORBmatcher
 {    
 public:
 
diff --git a/include/Optimizer.h b/include/Optimizer.h
index 2c4378ed3b..155db8a143 100644
--- a/include/Optimizer.h
+++ b/include/Optimizer.h
@@ -26,6 +26,7 @@
 #include "KeyFrame.h"
 #include "LoopClosing.h"
 #include "Frame.h"
+#include "orb_slam2_export.h"
 
 #include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
 
@@ -34,7 +35,7 @@ namespace ORB_SLAM2
 
 class LoopClosing;
 
-class Optimizer
+class ORB_SLAM2_EXPORT Optimizer
 {
 public:
     void static BundleAdjustment(const std::vector<KeyFrame*> &vpKF, const std::vector<MapPoint*> &vpMP,
diff --git a/include/PnPsolver.h b/include/PnPsolver.h
index f92544fc8f..e39ba8ac73 100644
--- a/include/PnPsolver.h
+++ b/include/PnPsolver.h
@@ -54,11 +54,12 @@
 #include <opencv2/core/core.hpp>
 #include "MapPoint.h"
 #include "Frame.h"
+#include "orb_slam2_export.h"
 
 namespace ORB_SLAM2
 {
 
-class PnPsolver {
+class ORB_SLAM2_EXPORT PnPsolver {
  public:
   PnPsolver(const Frame &F, const vector<MapPoint*> &vpMapPointMatches);
 
diff --git a/include/Sim3Solver.h b/include/Sim3Solver.h
index 9af66cb26f..336d9bb138 100644
--- a/include/Sim3Solver.h
+++ b/include/Sim3Solver.h
@@ -26,13 +26,13 @@
 #include <vector>
 
 #include "KeyFrame.h"
-
+#include "orb_slam2_export.h"
 
 
 namespace ORB_SLAM2
 {
 
-class Sim3Solver
+class ORB_SLAM2_EXPORT Sim3Solver
 {
 public:
 
diff --git a/include/System.h b/include/System.h
index dec008c437..1b1b2fd074 100644
--- a/include/System.h
+++ b/include/System.h
@@ -35,6 +35,7 @@
 #include "KeyFrameDatabase.h"
 #include "ORBVocabulary.h"
 #include "Viewer.h"
+#include "orb_slam2_export.h"
 
 namespace ORB_SLAM2
 {
@@ -46,7 +47,7 @@ class Tracking;
 class LocalMapping;
 class LoopClosing;
 
-class System
+class ORB_SLAM2_EXPORT System
 {
 public:
     // Input sensor
diff --git a/include/Tracking.h b/include/Tracking.h
index 5aaa93ef26..0dd6589269 100644
--- a/include/Tracking.h
+++ b/include/Tracking.h
@@ -37,6 +37,7 @@
 #include "Initializer.h"
 #include "MapDrawer.h"
 #include "System.h"
+#include "orb_slam2_export.h"
 
 #include <mutex>
 
@@ -50,7 +51,7 @@ class LocalMapping;
 class LoopClosing;
 class System;
 
-class Tracking
+class ORB_SLAM2_EXPORT Tracking
 {  
 
 public:
diff --git a/include/Viewer.h b/include/Viewer.h
index 251e223c54..9c563de04c 100644
--- a/include/Viewer.h
+++ b/include/Viewer.h
@@ -26,6 +26,7 @@
 #include "MapDrawer.h"
 #include "Tracking.h"
 #include "System.h"
+#include "orb_slam2_export.h"
 
 #include <mutex>
 
@@ -37,7 +38,7 @@ class FrameDrawer;
 class MapDrawer;
 class System;
 
-class Viewer
+class ORB_SLAM2_EXPORT Viewer
 {
 public:
     Viewer(System* pSystem, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Tracking *pTracking, const string &strSettingPath);
diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc
index 3dd2dce8ac..d6f5baa58d 100644
--- a/src/LocalMapping.cc
+++ b/src/LocalMapping.cc
@@ -23,7 +23,9 @@
 #include "ORBmatcher.h"
 #include "Optimizer.h"
 
-#include<mutex>
+#include <mutex>
+#include <thread>
+#include <chrono>
 
 namespace ORB_SLAM2
 {
@@ -91,7 +93,7 @@ void LocalMapping::Run()
             // Safe area to stop
             while(isStopped() && !CheckFinish())
             {
-                usleep(3000);
+                std::this_thread::sleep_for(std::chrono::microseconds(3000));
             }
             if(CheckFinish())
                 break;
@@ -105,7 +107,7 @@ void LocalMapping::Run()
         if(CheckFinish())
             break;
 
-        usleep(3000);
+        std::this_thread::sleep_for(std::chrono::microseconds(3000));
     }
 
     SetFinish();
@@ -718,7 +720,7 @@ void LocalMapping::RequestReset()
             if(!mbResetRequested)
                 break;
         }
-        usleep(3000);
+        std::this_thread::sleep_for(std::chrono::microseconds(3000));
     }
 }
 
diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc
index 6879125fdd..776859d6da 100644
--- a/src/LoopClosing.cc
+++ b/src/LoopClosing.cc
@@ -30,7 +30,7 @@
 
 #include<mutex>
 #include<thread>
-
+#include<chrono>
 
 namespace ORB_SLAM2
 {
@@ -82,7 +82,7 @@ void LoopClosing::Run()
         if(CheckFinish())
             break;
 
-        usleep(5000);
+        std::this_thread::sleep_for(std::chrono::microseconds(5000));
     }
 
     SetFinish();
@@ -414,7 +414,7 @@ void LoopClosing::CorrectLoop()
         mbStopGBA = true;
 
         while(!isFinishedGBA())
-            usleep(5000);
+            std::this_thread::sleep_for(std::chrono::microseconds(5000));
 
         mpThreadGBA->join();
         delete mpThreadGBA;
@@ -423,7 +423,7 @@ void LoopClosing::CorrectLoop()
     // Wait until Local Mapping has effectively stopped
     while(!mpLocalMapper->isStopped())
     {
-        usleep(1000);
+        std::this_thread::sleep_for(std::chrono::microseconds(1000));
     }
 
     // Ensure current keyframe is updated
@@ -625,7 +625,7 @@ void LoopClosing::RequestReset()
         if(!mbResetRequested)
             break;
         }
-        usleep(5000);
+        std::this_thread::sleep_for(std::chrono::microseconds(5000));
     }
 }
 
@@ -663,7 +663,7 @@ void LoopClosing::RunGlobalBundleAdjustment(unsigned long nLoopKF)
 
             while(!mpLocalMapper->isStopped() && !mpLocalMapper->isFinished())
             {
-                usleep(1000);
+                std::this_thread::sleep_for(std::chrono::microseconds(1000));
             }
 
             // Get Map Mutex
diff --git a/src/MapPoint.cc b/src/MapPoint.cc
index ec41ddbc8b..5976d605fc 100644
--- a/src/MapPoint.cc
+++ b/src/MapPoint.cc
@@ -271,16 +271,15 @@ void MapPoint::ComputeDistinctiveDescriptors()
 
     // Compute distances between them
     const size_t N = vDescriptors.size();
-
-    float Distances[N][N];
+    float* Distances = new float[N*N];
     for(size_t i=0;i<N;i++)
     {
-        Distances[i][i]=0;
+        Distances[i*N + i]=0;
         for(size_t j=i+1;j<N;j++)
         {
             int distij = ORBmatcher::DescriptorDistance(vDescriptors[i],vDescriptors[j]);
-            Distances[i][j]=distij;
-            Distances[j][i]=distij;
+            Distances[i*N + j]=distij;
+            Distances[j*N + i]=distij;
         }
     }
 
@@ -289,7 +288,7 @@ void MapPoint::ComputeDistinctiveDescriptors()
     int BestIdx = 0;
     for(size_t i=0;i<N;i++)
     {
-        vector<int> vDists(Distances[i],Distances[i]+N);
+        vector<int> vDists(Distances + i,Distances + i + N);
         sort(vDists.begin(),vDists.end());
         int median = vDists[0.5*(N-1)];
 
@@ -299,7 +298,7 @@ void MapPoint::ComputeDistinctiveDescriptors()
             BestIdx = i;
         }
     }
-
+    delete[] Distances;
     {
         unique_lock<mutex> lock(mMutexFeatures);
         mDescriptor = vDescriptors[BestIdx].clone();       
diff --git a/src/ORBextractor.cc b/src/ORBextractor.cc
index 14be2efae5..31dc52fbf4 100644
--- a/src/ORBextractor.cc
+++ b/src/ORBextractor.cc
@@ -59,6 +59,7 @@
 #include <opencv2/features2d/features2d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <vector>
+#include <iterator>
 
 #include "ORBextractor.h"
 
diff --git a/src/ORBmatcher.cc b/src/ORBmatcher.cc
index be31e8487e..7fa0f64e60 100644
--- a/src/ORBmatcher.cc
+++ b/src/ORBmatcher.cc
@@ -27,7 +27,7 @@
 
 #include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
 
-#include<stdint-gcc.h>
+#include<cstdint>
 
 using namespace std;
 
diff --git a/src/System.cc b/src/System.cc
index 739f541bc1..2fa1037f05 100644
--- a/src/System.cc
+++ b/src/System.cc
@@ -25,6 +25,8 @@
 #include <thread>
 #include <pangolin/pangolin.h>
 #include <iomanip>
+#include <chrono>
+#include <thread>
 
 namespace ORB_SLAM2
 {
@@ -130,7 +132,7 @@ cv::Mat System::TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const
             // Wait until Local Mapping has effectively stopped
             while(!mpLocalMapper->isStopped())
             {
-                usleep(1000);
+                std::this_thread::sleep_for(std::chrono::microseconds(1000));
             }
 
             mpTracker->InformOnlyTracking(true);
@@ -175,7 +177,7 @@ cv::Mat System::TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const doub
             // Wait until Local Mapping has effectively stopped
             while(!mpLocalMapper->isStopped())
             {
-                usleep(1000);
+                std::this_thread::sleep_for(std::chrono::microseconds(1000));
             }
 
             mpTracker->InformOnlyTracking(true);
@@ -220,7 +222,7 @@ cv::Mat System::TrackMonocular(const cv::Mat &im, const double &timestamp)
             // Wait until Local Mapping has effectively stopped
             while(!mpLocalMapper->isStopped())
             {
-                usleep(1000);
+                std::this_thread::sleep_for(std::chrono::microseconds(1000));
             }
 
             mpTracker->InformOnlyTracking(true);
@@ -275,7 +277,7 @@ void System::Shutdown()
     while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished()  ||
           !mpViewer->isFinished()      || mpLoopCloser->isRunningGBA())
     {
-        usleep(5000);
+        std::this_thread::sleep_for(std::chrono::microseconds(5000));
     }
 
     pangolin::BindToContext("ORB-SLAM2: Map Viewer");
diff --git a/src/Tracking.cc b/src/Tracking.cc
index be6e12b935..d2f2111c5e 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -36,7 +36,8 @@
 #include<iostream>
 
 #include<mutex>
-
+#include <chrono>
+#include <thread>
 
 using namespace std;
 
@@ -1520,7 +1521,7 @@ void Tracking::Reset()
 
     cout << "System Reseting" << endl;
     while(!mpViewer->isStopped())
-        usleep(3000);
+        std::this_thread::sleep_for(std::chrono::microseconds(3000));
 
     // Reset Local Mapping
     cout << "Reseting Local Mapper...";
diff --git a/src/Viewer.cc b/src/Viewer.cc
index 92fa8468cc..7513f80a41 100644
--- a/src/Viewer.cc
+++ b/src/Viewer.cc
@@ -22,6 +22,8 @@
 #include <pangolin/pangolin.h>
 
 #include <mutex>
+#include <chrono>
+#include <thread>
 
 namespace ORB_SLAM2
 {
@@ -156,7 +158,7 @@ void Viewer::Run()
         {
             while(isStopped())
             {
-                usleep(3000);
+                std::this_thread::sleep_for(std::chrono::microseconds(3000));
             }
         }