From e9e87526c41699a544fb07ae0beedca87658643e Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Tue, 6 Oct 2020 18:10:06 +0200
Subject: [PATCH 1/5] refactor cmake scripts into smaller files

---
 CMakeLists.txt                         | 551 +------------------------
 cmake/GtsamBuildTypes.cmake            |  14 +
 cmake/handle_allocators.cmake          |  34 ++
 cmake/handle_boost.cmake               |  56 +++
 cmake/handle_ccache.cmake              |  14 +
 cmake/handle_cpack.cmake               |  28 ++
 cmake/handle_eigen.cmake               |  75 ++++
 cmake/handle_final_checks.cmake        |  10 +
 cmake/handle_general_options.cmake     |  46 +++
 cmake/handle_global_build_flags.cmake  |  52 +++
 cmake/handle_mkl.cmake                 |  17 +
 cmake/handle_openmp.cmake              |  11 +
 cmake/handle_perftools.cmake           |   4 +
 cmake/handle_print_configuration.cmake | 104 +++++
 cmake/handle_python.cmake              |  26 ++
 cmake/handle_tbb.cmake                 |  24 ++
 cmake/handle_uninstall.cmake           |  10 +
 matlab/CMakeLists.txt                  |   7 +-
 18 files changed, 545 insertions(+), 538 deletions(-)
 create mode 100644 cmake/handle_allocators.cmake
 create mode 100644 cmake/handle_boost.cmake
 create mode 100644 cmake/handle_ccache.cmake
 create mode 100644 cmake/handle_cpack.cmake
 create mode 100644 cmake/handle_eigen.cmake
 create mode 100644 cmake/handle_final_checks.cmake
 create mode 100644 cmake/handle_general_options.cmake
 create mode 100644 cmake/handle_global_build_flags.cmake
 create mode 100644 cmake/handle_mkl.cmake
 create mode 100644 cmake/handle_openmp.cmake
 create mode 100644 cmake/handle_perftools.cmake
 create mode 100644 cmake/handle_print_configuration.cmake
 create mode 100644 cmake/handle_python.cmake
 create mode 100644 cmake/handle_tbb.cmake
 create mode 100644 cmake/handle_uninstall.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b546ebc21..831ee00f3b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,17 +22,10 @@ set (CMAKE_PROJECT_VERSION_PATCH ${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)
 include(GNUInstallDirs)
 
-# 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)
 
@@ -45,399 +38,21 @@ 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 a git 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()
-
-# ----------------------------------------------------------------------------
-#   Uninstall target, for "make uninstall"
-# ----------------------------------------------------------------------------
-configure_file(
-  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-  IMMEDIATE @ONLY)
-
-add_custom_target(uninstall
-  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
-
-
-###############################################################################
-# Set up options
-
-# Configurable Options
-if(GTSAM_UNSTABLE_AVAILABLE)
-    option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
-    option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
-    option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
-endif()
-option(BUILD_SHARED_LIBS                 "Build shared gtsam library, instead of static" ON)
-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." ON)
-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." ON)
-option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF)
-option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" ON)
-option(GTSAM_WITH_EIGEN_MKL              "Eigen will use Intel MKL if available" OFF)
-option(GTSAM_WITH_EIGEN_MKL_OPENMP       "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
-option(GTSAM_THROW_CHEIRALITY_EXCEPTION  "Throw exception when a triangulated point is behind a camera" ON)
-option(GTSAM_BUILD_PYTHON                "Enable/Disable building & installation of Python module with pybind11" OFF)
-option(GTSAM_ALLOW_DEPRECATED_SINCE_V41  "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
-option(GTSAM_SUPPORT_NESTED_DISSECTION   "Support Metis-based nested dissection" ON)
-option(GTSAM_TANGENT_PREINTEGRATION      "Use new ImuFactor with integration on tangent space" ON)
-if(NOT MSVC AND NOT XCODE_VERSION)
-    option(GTSAM_BUILD_WITH_CCACHE           "Use ccache compiler cache" ON)
-endif()
-
-if(NOT MSVC AND NOT XCODE_VERSION)
-  # Set the build type to upper case for downstream use
-  string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
-
-  # Set the GTSAM_BUILD_TAG variable.
-  # If build type is Release, set to blank (""), else set to the build type.
-  if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
-   set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
-  else()
-   set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
-  endif()
-endif()
-
-# 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)
-set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.")
-
-# Check / set dependent variables for MATLAB wrapper
-if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES)
-    set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
-endif()
-
-if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
-    message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries.  If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.")
-endif()
-
-if(GTSAM_BUILD_PYTHON)
-    if(${GTSAM_PYTHON_VERSION} STREQUAL "Default")
-        # Get info about the Python3 interpreter
-        # https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3
-        find_package(Python3 COMPONENTS Interpreter Development)
-
-        if(NOT ${Python3_FOUND})
-            message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.")
-        endif()
+include(cmake/handle_boost.cmake)            # Boost
+include(cmake/handle_ccache.cmake)           # ccache
+include(cmake/handle_cpack.cmake)            # CPack
+include(cmake/handle_eigen.cmake)            # Eigen3
+include(cmake/handle_general_options.cmake)  # CMake build options
+include(cmake/handle_mkl.cmake)              # MKL
+include(cmake/handle_openmp.cmake)           # OpenMP
+include(cmake/handle_perftools.cmake)        # Google perftools
+include(cmake/handle_python.cmake)           # Python options and commands
+include(cmake/handle_tbb.cmake)              # TBB
+include(cmake/handle_uninstall.cmake)        # for "make uninstall"
 
-        set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
-                CACHE
-                STRING
-                "The version of Python to build the wrappers against."
-                FORCE)
-    endif()
+include(cmake/handle_allocators.cmake)       # Must be after tbb, pertools
 
-    if(GTSAM_UNSTABLE_BUILD_PYTHON)
-        if (NOT GTSAM_BUILD_UNSTABLE)
-            message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
-            set(GTSAM_UNSTABLE_BUILD_PYTHON OFF)
-        endif()
-    endif()
-
-    set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
-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")
-
-if (CMAKE_GENERATOR STREQUAL "Ninja" AND
-    ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR
-     (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5)))
-    # Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support.
-    # Rationale in https://github.com/ninja-build/ninja/issues/814
-    add_compile_options(-fdiagnostics-color=always)
-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(MSVC)
-    # By default, boost only builds static libraries on windows
-    set(Boost_USE_STATIC_LIBS ON)  # only find static libs
-    # If we ever reset above on windows and, ...
-    # If we use Boost shared libs, disable auto linking.
-    # Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
-    if(NOT Boost_USE_STATIC_LIBS)
-        list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
-    endif()
-    # Virtual memory range for PCH exceeded on VS2015
-    if(MSVC_VERSION LESS 1910) # older than VS2017
-      list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
-    endif()
-endif()
-
-# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
-# or explicit instantiation will generate build errors.
-# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
-#
-if(MSVC AND BUILD_SHARED_LIBS)
-    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
-endif()
-
-# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
-set(BOOST_FIND_MINIMUM_VERSION 1.58)
-set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
-
-find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
-
-# Required components
-if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
-    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
-  message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.")
-endif()
-
-option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
-# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
-set(GTSAM_BOOST_LIBRARIES
-  Boost::serialization
-  Boost::system
-  Boost::filesystem
-  Boost::thread
-  Boost::date_time
-  Boost::regex
-)
-if (GTSAM_DISABLE_NEW_TIMERS)
-    message("WARNING:  GTSAM timing instrumentation manually disabled")
-    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
-else()
-    if(Boost_TIMER_LIBRARY)
-      list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
-    else()
-      list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
-      message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
-    endif()
-endif()
-
-###############################################################################
-# Find TBB
-find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
-
-# Set up variables if we're using TBB
-if(TBB_FOUND AND GTSAM_WITH_TBB)
-    set(GTSAM_USE_TBB 1)  # This will go into config.h
-    if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
-        set(TBB_GREATER_EQUAL_2020 1)
-    else()
-        set(TBB_GREATER_EQUAL_2020 0)
-    endif()
-    # all definitions and link requisites will go via imported targets:
-    # tbb & tbbmalloc
-    list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
-else()
-    set(GTSAM_USE_TBB 0)  # This will go into config.h
-endif()
-
-###############################################################################
-# Prohibit Timing build mode in combination with TBB
-if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE  STREQUAL "Timing"))
-      message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
-endif()
-
-
-###############################################################################
-# Find Google perftools
-find_package(GooglePerfTools)
-
-###############################################################################
-# Support ccache, if installed
-if(NOT MSVC AND NOT XCODE_VERSION)
-    find_program(CCACHE_FOUND ccache)
-    if(CCACHE_FOUND)
-        if(GTSAM_BUILD_WITH_CCACHE)
-            set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
-            set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
-        else()
-            set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
-            set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
-        endif()
-    endif(CCACHE_FOUND)
-endif()
-
-###############################################################################
-# Find MKL
-find_package(MKL)
-
-if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
-    set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h
-    set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL
-    list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
-
-    # --no-as-needed is required with gcc according to the MKL link advisor
-    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")
-    endif()
-else()
-    set(GTSAM_USE_EIGEN_MKL 0)
-    set(EIGEN_USE_MKL_ALL 0)
-endif()
-
-###############################################################################
-# Find OpenMP (if we're also using MKL)
-find_package(OpenMP)  # do this here to generate correct message if disabled
-
-if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
-    if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP)
-        set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h
-        list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS})
-    endif()
-endif()
-
-
-###############################################################################
-# Option for using system Eigen or GTSAM-bundled Eigen
-### These patches only affect usage of MKL. If you want to enable MKL, you *must*
-### use our patched version of Eigen
-### See:  http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
-###       http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
-option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
-
-# Switch for using system Eigen or GTSAM-bundled Eigen
-if(GTSAM_USE_SYSTEM_EIGEN)
-    find_package(Eigen3 REQUIRED)
-
-    # Use generic Eigen include paths e.g. <Eigen/Core>
-    set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
-
-    # check if MKL is also enabled - can have one or the other, but not both!
-    # Note: Eigen >= v3.2.5 includes our patches
-    if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
-      message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL")
-    endif()
-
-    # Check for Eigen version which doesn't work with MKL
-    # See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
-    if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
-        message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
-    endif()
-
-    # The actual include directory (for BUILD cmake target interface):
-    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
-else()
-    # Use bundled Eigen include path.
-    # Clear any variables set by FindEigen3
-    if(EIGEN3_INCLUDE_DIR)
-        set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
-    endif()
-
-    # set full path to be used by external projects
-    # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
-    set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
-
-    # The actual include directory (for BUILD cmake target interface):
-    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
-endif()
-
-# Detect Eigen version:
-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
-if (EXISTS ${EIGEN_VER_H})
-    file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
-
-    # Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION  XX", etc...
-
-    string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
-    string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
-
-    string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
-    string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
-
-    string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
-    string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
-
-    set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
-
-    message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
-else()
-    message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
-endif ()
-
-if (MSVC)
-    if (BUILD_SHARED_LIBS)
-        # mute eigen static assert to avoid errors in shared lib
-        list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
-    endif()
-    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
-endif()
-
-if (APPLE AND BUILD_SHARED_LIBS)
-    # Set the default install directory on macOS
-    set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
-endif()
-
-###############################################################################
-# Global compile options
-
-# Build list of possible allocators
-set(possible_allocators "")
-if(GTSAM_USE_TBB)
-    list(APPEND possible_allocators TBB)
-    set(preferred_allocator TBB)
-else()
-    list(APPEND possible_allocators BoostPool STL)
-    set(preferred_allocator STL)
-endif()
-if(GOOGLE_PERFTOOLS_FOUND)
-    list(APPEND possible_allocators tcmalloc)
-endif()
-
-# Check if current allocator choice is valid and set cache option
-list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
-if(allocator_valid EQUAL -1)
-    set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
-else()
-    set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
-endif()
-set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
-mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
-
-# Define compile flags depending on allocator
-if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
-    set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
-elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
-    set(GTSAM_ALLOCATOR_STL 1)
-elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
-    set(GTSAM_ALLOCATOR_TBB 1)
-elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
-    set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
-    list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
-endif()
-
-if(MSVC)
-    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
-    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
-    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
-endif()
-
-# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
-    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
-  endif()
-endif()
-
-# As of XCode 7, clang also complains about this
-if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-  if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
-    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
-  endif()
-endif()
-
-if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
-  # This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
-  list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
-endif()
+include(cmake/handle_global_build_flags.cmake) # Build flags
 
 ###############################################################################
 # Add components
@@ -477,7 +92,6 @@ endif()
 GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
 export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
 
-
 # Check for doxygen availability - optional dependency
 find_package(Doxygen)
 
@@ -489,146 +103,11 @@ endif()
 # CMake Tools
 add_subdirectory(cmake)
 
-
-###############################################################################
-# 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 "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
-set(CPACK_RESOURCE_FILE_LICENSE "${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${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
-
-# Deb-package specific cpack
-set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
-
-
-###############################################################################
 # Print configuration variables
-message(STATUS "===============================================================")
-message(STATUS "================  Configuration Options  ======================")
-print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}")
-print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}")
-print_config("CMake version"    "${CMAKE_VERSION}")
-print_config("CMake generator"  "${CMAKE_GENERATOR}")
-print_config("CMake build tool" "${CMAKE_BUILD_TOOL}")
-message(STATUS "Build flags                                               ")
-print_enabled_config(${GTSAM_BUILD_TESTS}                 "Build Tests")
-print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS}       "Build examples with 'make all'")
-print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS}         "Build timing scripts with 'make all'")
-if (DOXYGEN_FOUND)
-    print_enabled_config(${GTSAM_BUILD_DOCS}              "Build Docs")
-endif()
-print_enabled_config(${BUILD_SHARED_LIBS}                 "Build shared GTSAM libraries")
-print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name")
-if(GTSAM_UNSTABLE_AVAILABLE)
-    print_enabled_config(${GTSAM_BUILD_UNSTABLE}          "Build libgtsam_unstable        ")
-    print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON}   "Build GTSAM unstable Python    ")
-    print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
-endif()
-
-if(NOT MSVC AND NOT XCODE_VERSION)
-    print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE}     "Build for native architecture  ")
-    print_config("Build type" "${CMAKE_BUILD_TYPE}")
-    print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
-    print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
-endif()
-
-print_build_options_for_target(gtsam)
-
-print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
-
-if(GTSAM_USE_TBB)
-    print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")
-elseif(TBB_FOUND)
-    print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled")
-else()
-    print_config("Use Intel TBB" "TBB not found")
-endif()
-if(GTSAM_USE_EIGEN_MKL)
-    print_config("Eigen will use MKL" "Yes")
-elseif(MKL_FOUND)
-    print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
-else()
-    print_config("Eigen will use MKL" "MKL not found")
-endif()
-if(GTSAM_USE_EIGEN_MKL_OPENMP)
-    print_config("Eigen will use MKL and OpenMP" "Yes")
-elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL)
-    print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
-elseif(OPENMP_FOUND AND NOT MKL_FOUND)
-    print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found")
-elseif(OPENMP_FOUND)
-    print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
-else()
-    print_config("Eigen will use MKL and OpenMP" "OpenMP not found")
-endif()
-print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}")
-
-if(GTSAM_THROW_CHEIRALITY_EXCEPTION)
-    print_config("Cheirality exceptions enabled" "YES")
-else()
-    print_config("Cheirality exceptions enabled" "NO")
-endif()
-
-if(NOT MSVC AND NOT XCODE_VERSION)
-    if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
-        print_config("Build with ccache" "Yes")
-    elseif(CCACHE_FOUND)
-        print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
-    else()
-        print_config("Build with ccache" "No")
-    endif()
-endif()
-
-message(STATUS "Packaging flags")
-print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}")
-print_config("CPack Generator" "${CPACK_GENERATOR}")
-
-message(STATUS "GTSAM flags                                               ")
-print_enabled_config(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3     ")
-print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
-print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
-print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
-print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41}  "Allow features deprecated in GTSAM 4.1")
-print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
-print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
-
-message(STATUS "MATLAB toolbox flags")
-print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX}      "Install MATLAB toolbox          ")
-if (${GTSAM_INSTALL_MATLAB_TOOLBOX})
-    print_config("MATLAB root" "${MATLAB_ROOT}")
-    print_config("MEX binary" "${MEX_COMMAND}")
-endif()
-message(STATUS "Python toolbox flags                                      ")
-print_enabled_config(${GTSAM_BUILD_PYTHON}                "Build Python module with pybind ")
-if(GTSAM_BUILD_PYTHON)
-    print_config("Python version" ${GTSAM_PYTHON_VERSION})
-endif()
-
-message(STATUS "===============================================================")
+include(cmake/handle_print_configuration.cmake)
 
 # Print warnings at the end
-if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
-    message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled.  Set GTSAM_WITH_TBB to 'Off' to avoid this warning.")
-endif()
-if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND)
-    message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled.  Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning.  See INSTALL.md for notes on performance.")
-endif()
-if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND)
-    message(WARNING "Your compiler does not support OpenMP.  Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.")
-endif()
+include(cmake/handle_final_checks.cmake)
 
 # Include CPack *after* all flags
 include(CPack)
diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index 53dacd3f57..840d374275 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -263,3 +263,17 @@ function(gtsam_apply_build_flags target_name_)
   target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
 
 endfunction(gtsam_apply_build_flags)
+
+
+if(NOT MSVC AND NOT XCODE_VERSION)
+  # Set the build type to upper case for downstream use
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
+
+  # Set the GTSAM_BUILD_TAG variable.
+  # If build type is Release, set to blank (""), else set to the build type.
+  if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
+   set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
+  else()
+   set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
+  endif()
+endif()
diff --git a/cmake/handle_allocators.cmake b/cmake/handle_allocators.cmake
new file mode 100644
index 0000000000..63411b17bc
--- /dev/null
+++ b/cmake/handle_allocators.cmake
@@ -0,0 +1,34 @@
+# Build list of possible allocators
+set(possible_allocators "")
+if(GTSAM_USE_TBB)
+    list(APPEND possible_allocators TBB)
+    set(preferred_allocator TBB)
+else()
+    list(APPEND possible_allocators BoostPool STL)
+    set(preferred_allocator STL)
+endif()
+if(GOOGLE_PERFTOOLS_FOUND)
+    list(APPEND possible_allocators tcmalloc)
+endif()
+
+# Check if current allocator choice is valid and set cache option
+list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
+if(allocator_valid EQUAL -1)
+    set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
+else()
+    set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
+endif()
+set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
+mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
+
+# Define compile flags depending on allocator
+if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
+    set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
+elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
+    set(GTSAM_ALLOCATOR_STL 1)
+elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
+    set(GTSAM_ALLOCATOR_TBB 1)
+elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
+    set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
+    list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
+endif()
diff --git a/cmake/handle_boost.cmake b/cmake/handle_boost.cmake
new file mode 100644
index 0000000000..e73c2237de
--- /dev/null
+++ b/cmake/handle_boost.cmake
@@ -0,0 +1,56 @@
+###############################################################################
+# 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(MSVC)
+    # By default, boost only builds static libraries on windows
+    set(Boost_USE_STATIC_LIBS ON)  # only find static libs
+    # If we ever reset above on windows and, ...
+    # If we use Boost shared libs, disable auto linking.
+    # Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
+    if(NOT Boost_USE_STATIC_LIBS)
+        list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
+    endif()
+    # Virtual memory range for PCH exceeded on VS2015
+    if(MSVC_VERSION LESS 1910) # older than VS2017
+      list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
+    endif()
+endif()
+
+
+# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
+set(BOOST_FIND_MINIMUM_VERSION 1.58)
+set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
+
+find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
+
+# 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)
+  message(FATAL_ERROR "Missing required Boost components >= v1.58, 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
+  Boost::system
+  Boost::filesystem
+  Boost::thread
+  Boost::date_time
+  Boost::regex
+)
+if (GTSAM_DISABLE_NEW_TIMERS)
+    message("WARNING:  GTSAM timing instrumentation manually disabled")
+    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
+else()
+    if(Boost_TIMER_LIBRARY)
+      list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
+    else()
+      list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
+      message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
+    endif()
+endif()
diff --git a/cmake/handle_ccache.cmake b/cmake/handle_ccache.cmake
new file mode 100644
index 0000000000..9eabb19051
--- /dev/null
+++ b/cmake/handle_ccache.cmake
@@ -0,0 +1,14 @@
+###############################################################################
+# Support ccache, if installed
+if(NOT MSVC AND NOT XCODE_VERSION)
+    find_program(CCACHE_FOUND ccache)
+    if(CCACHE_FOUND)
+        if(GTSAM_BUILD_WITH_CCACHE)
+            set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
+            set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
+        else()
+            set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
+            set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
+        endif()
+    endif(CCACHE_FOUND)
+endif()
diff --git a/cmake/handle_cpack.cmake b/cmake/handle_cpack.cmake
new file mode 100644
index 0000000000..1c32433a48
--- /dev/null
+++ b/cmake/handle_cpack.cmake
@@ -0,0 +1,28 @@
+#JLBC: is all this actually used by someone? could it be removed?
+
+# 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")
+
+###############################################################################
+# 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.md")
+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${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
+
+# Deb-package specific cpack
+set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
diff --git a/cmake/handle_eigen.cmake b/cmake/handle_eigen.cmake
new file mode 100644
index 0000000000..690da69712
--- /dev/null
+++ b/cmake/handle_eigen.cmake
@@ -0,0 +1,75 @@
+###############################################################################
+# Option for using system Eigen or GTSAM-bundled Eigen
+### These patches only affect usage of MKL. If you want to enable MKL, you *must*
+### use our patched version of Eigen
+### See:  http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
+###       http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
+option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
+
+# Switch for using system Eigen or GTSAM-bundled Eigen
+if(GTSAM_USE_SYSTEM_EIGEN)
+    find_package(Eigen3 REQUIRED)
+
+    # Use generic Eigen include paths e.g. <Eigen/Core>
+    set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
+
+    # check if MKL is also enabled - can have one or the other, but not both!
+    # Note: Eigen >= v3.2.5 includes our patches
+    if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
+      message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL")
+    endif()
+
+    # Check for Eigen version which doesn't work with MKL
+    # See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
+    if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
+        message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
+    endif()
+
+    # The actual include directory (for BUILD cmake target interface):
+    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
+else()
+    # Use bundled Eigen include path.
+    # Clear any variables set by FindEigen3
+    if(EIGEN3_INCLUDE_DIR)
+        set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
+    endif()
+
+    # set full path to be used by external projects
+    # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
+    set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
+
+    # The actual include directory (for BUILD cmake target interface):
+    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
+endif()
+
+# Detect Eigen version:
+set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
+if (EXISTS ${EIGEN_VER_H})
+    file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
+
+    # Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION  XX", etc...
+
+    string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
+    string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
+
+    string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
+    string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
+
+    string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
+    string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
+
+    set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
+
+    message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
+else()
+    message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
+endif ()
+
+if (MSVC)
+    if (BUILD_SHARED_LIBS)
+        # mute eigen static assert to avoid errors in shared lib
+        list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
+    endif()
+    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
+endif()
diff --git a/cmake/handle_final_checks.cmake b/cmake/handle_final_checks.cmake
new file mode 100644
index 0000000000..f91fc7fdb9
--- /dev/null
+++ b/cmake/handle_final_checks.cmake
@@ -0,0 +1,10 @@
+# Print warnings at the end
+if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
+    message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled.  Set GTSAM_WITH_TBB to 'Off' to avoid this warning.")
+endif()
+if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND)
+    message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled.  Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning.  See INSTALL.md for notes on performance.")
+endif()
+if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND)
+    message(WARNING "Your compiler does not support OpenMP.  Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.")
+endif()
diff --git a/cmake/handle_general_options.cmake b/cmake/handle_general_options.cmake
new file mode 100644
index 0000000000..27d73bd866
--- /dev/null
+++ b/cmake/handle_general_options.cmake
@@ -0,0 +1,46 @@
+###############################################################################
+# Set up options
+
+# See whether gtsam_unstable is available (it will be present only if we're using a git 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()
+
+# Configurable Options
+if(GTSAM_UNSTABLE_AVAILABLE)
+    option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
+    option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
+    option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
+endif()
+option(BUILD_SHARED_LIBS                 "Build shared gtsam library, instead of static" ON)
+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." ON)
+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." ON)
+option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF)
+option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" ON)
+option(GTSAM_WITH_EIGEN_MKL              "Eigen will use Intel MKL if available" OFF)
+option(GTSAM_WITH_EIGEN_MKL_OPENMP       "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
+option(GTSAM_THROW_CHEIRALITY_EXCEPTION  "Throw exception when a triangulated point is behind a camera" ON)
+option(GTSAM_BUILD_PYTHON                "Enable/Disable building & installation of Python module with pybind11" OFF)
+option(GTSAM_ALLOW_DEPRECATED_SINCE_V41  "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
+option(GTSAM_SUPPORT_NESTED_DISSECTION   "Support Metis-based nested dissection" ON)
+option(GTSAM_TANGENT_PREINTEGRATION      "Use new ImuFactor with integration on tangent space" ON)
+if(NOT MSVC AND NOT XCODE_VERSION)
+    option(GTSAM_BUILD_WITH_CCACHE           "Use ccache compiler cache" ON)
+endif()
+
+# 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)
+set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.")
+
+# Check / set dependent variables for MATLAB wrapper
+if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES)
+    set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
+endif()
+
+if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
+    message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries.  If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.")
+endif()
diff --git a/cmake/handle_global_build_flags.cmake b/cmake/handle_global_build_flags.cmake
new file mode 100644
index 0000000000..f33e12b94d
--- /dev/null
+++ b/cmake/handle_global_build_flags.cmake
@@ -0,0 +1,52 @@
+# JLBC: These should ideally be ported to "modern cmake" via target properties.
+#
+
+if (CMAKE_GENERATOR STREQUAL "Ninja" AND
+    ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR
+     (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5)))
+    # Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support.
+    # Rationale in https://github.com/ninja-build/ninja/issues/814
+    add_compile_options(-fdiagnostics-color=always)
+endif()
+
+
+# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
+# or explicit instantiation will generate build errors.
+# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
+#
+if(MSVC AND BUILD_SHARED_LIBS)
+    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
+endif()
+
+if (APPLE AND BUILD_SHARED_LIBS)
+    # Set the default install directory on macOS
+    set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+endif()
+
+###############################################################################
+# Global compile options
+
+if(MSVC)
+    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
+    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
+    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
+endif()
+
+# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+  if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
+    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
+  endif()
+endif()
+
+# As of XCode 7, clang also complains about this
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
+    list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
+  endif()
+endif()
+
+if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
+  # This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
+  list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
+endif()
diff --git a/cmake/handle_mkl.cmake b/cmake/handle_mkl.cmake
new file mode 100644
index 0000000000..5d7ec365b2
--- /dev/null
+++ b/cmake/handle_mkl.cmake
@@ -0,0 +1,17 @@
+###############################################################################
+# Find MKL
+find_package(MKL)
+
+if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
+    set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h
+    set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL
+    list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
+
+    # --no-as-needed is required with gcc according to the MKL link advisor
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")
+    endif()
+else()
+    set(GTSAM_USE_EIGEN_MKL 0)
+    set(EIGEN_USE_MKL_ALL 0)
+endif()
diff --git a/cmake/handle_openmp.cmake b/cmake/handle_openmp.cmake
new file mode 100644
index 0000000000..4f27aa6339
--- /dev/null
+++ b/cmake/handle_openmp.cmake
@@ -0,0 +1,11 @@
+
+###############################################################################
+# Find OpenMP (if we're also using MKL)
+find_package(OpenMP)  # do this here to generate correct message if disabled
+
+if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
+    if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP)
+        set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h
+        list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS})
+    endif()
+endif()
diff --git a/cmake/handle_perftools.cmake b/cmake/handle_perftools.cmake
new file mode 100644
index 0000000000..499caf80a1
--- /dev/null
+++ b/cmake/handle_perftools.cmake
@@ -0,0 +1,4 @@
+
+###############################################################################
+# Find Google perftools
+find_package(GooglePerfTools)
diff --git a/cmake/handle_print_configuration.cmake b/cmake/handle_print_configuration.cmake
new file mode 100644
index 0000000000..4ffd00e544
--- /dev/null
+++ b/cmake/handle_print_configuration.cmake
@@ -0,0 +1,104 @@
+###############################################################################
+# Print configuration variables
+message(STATUS "===============================================================")
+message(STATUS "================  Configuration Options  ======================")
+print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}")
+print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}")
+print_config("CMake version"    "${CMAKE_VERSION}")
+print_config("CMake generator"  "${CMAKE_GENERATOR}")
+print_config("CMake build tool" "${CMAKE_BUILD_TOOL}")
+message(STATUS "Build flags                                               ")
+print_enabled_config(${GTSAM_BUILD_TESTS}                 "Build Tests")
+print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS}       "Build examples with 'make all'")
+print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS}         "Build timing scripts with 'make all'")
+if (DOXYGEN_FOUND)
+    print_enabled_config(${GTSAM_BUILD_DOCS}              "Build Docs")
+endif()
+print_enabled_config(${BUILD_SHARED_LIBS}                 "Build shared GTSAM libraries")
+print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name")
+if(GTSAM_UNSTABLE_AVAILABLE)
+    print_enabled_config(${GTSAM_BUILD_UNSTABLE}          "Build libgtsam_unstable        ")
+    print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON}   "Build GTSAM unstable Python    ")
+    print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
+endif()
+
+if(NOT MSVC AND NOT XCODE_VERSION)
+    print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE}     "Build for native architecture  ")
+    print_config("Build type" "${CMAKE_BUILD_TYPE}")
+    print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
+    print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
+endif()
+
+print_build_options_for_target(gtsam)
+
+print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
+
+if(GTSAM_USE_TBB)
+    print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")
+elseif(TBB_FOUND)
+    print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled")
+else()
+    print_config("Use Intel TBB" "TBB not found")
+endif()
+if(GTSAM_USE_EIGEN_MKL)
+    print_config("Eigen will use MKL" "Yes")
+elseif(MKL_FOUND)
+    print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
+else()
+    print_config("Eigen will use MKL" "MKL not found")
+endif()
+if(GTSAM_USE_EIGEN_MKL_OPENMP)
+    print_config("Eigen will use MKL and OpenMP" "Yes")
+elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL)
+    print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
+elseif(OPENMP_FOUND AND NOT MKL_FOUND)
+    print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found")
+elseif(OPENMP_FOUND)
+    print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
+else()
+    print_config("Eigen will use MKL and OpenMP" "OpenMP not found")
+endif()
+print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}")
+
+if(GTSAM_THROW_CHEIRALITY_EXCEPTION)
+    print_config("Cheirality exceptions enabled" "YES")
+else()
+    print_config("Cheirality exceptions enabled" "NO")
+endif()
+
+if(NOT MSVC AND NOT XCODE_VERSION)
+    if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
+        print_config("Build with ccache" "Yes")
+    elseif(CCACHE_FOUND)
+        print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
+    else()
+        print_config("Build with ccache" "No")
+    endif()
+endif()
+
+message(STATUS "Packaging flags")
+print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}")
+print_config("CPack Generator" "${CPACK_GENERATOR}")
+
+message(STATUS "GTSAM flags                                               ")
+print_enabled_config(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3     ")
+print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
+print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
+print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
+print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41}  "Allow features deprecated in GTSAM 4.1")
+print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
+print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
+
+message(STATUS "MATLAB toolbox flags")
+print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX}      "Install MATLAB toolbox          ")
+if (${GTSAM_INSTALL_MATLAB_TOOLBOX})
+    print_config("MATLAB root" "${MATLAB_ROOT}")
+    print_config("MEX binary" "${MEX_COMMAND}")
+endif()
+message(STATUS "Python toolbox flags                                      ")
+print_enabled_config(${GTSAM_BUILD_PYTHON}                "Build Python module with pybind ")
+if(GTSAM_BUILD_PYTHON)
+    print_config("Python version" ${GTSAM_PYTHON_VERSION})
+endif()
+
+message(STATUS "===============================================================")
diff --git a/cmake/handle_python.cmake b/cmake/handle_python.cmake
new file mode 100644
index 0000000000..ac7401906c
--- /dev/null
+++ b/cmake/handle_python.cmake
@@ -0,0 +1,26 @@
+if(GTSAM_BUILD_PYTHON)
+    if(${GTSAM_PYTHON_VERSION} STREQUAL "Default")
+        # Get info about the Python3 interpreter
+        # https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3
+        find_package(Python3 COMPONENTS Interpreter Development)
+
+        if(NOT ${Python3_FOUND})
+            message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.")
+        endif()
+
+        set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
+                CACHE
+                STRING
+                "The version of Python to build the wrappers against."
+                FORCE)
+    endif()
+
+    if(GTSAM_UNSTABLE_BUILD_PYTHON)
+        if (NOT GTSAM_BUILD_UNSTABLE)
+            message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
+            set(GTSAM_UNSTABLE_BUILD_PYTHON OFF)
+        endif()
+    endif()
+
+    set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
+endif()
diff --git a/cmake/handle_tbb.cmake b/cmake/handle_tbb.cmake
new file mode 100644
index 0000000000..cedee55eaf
--- /dev/null
+++ b/cmake/handle_tbb.cmake
@@ -0,0 +1,24 @@
+###############################################################################
+# Find TBB
+find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
+
+# 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
+    if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
+        set(TBB_GREATER_EQUAL_2020 1)
+    else()
+        set(TBB_GREATER_EQUAL_2020 0)
+    endif()
+    # all definitions and link requisites will go via imported targets:
+    # tbb & tbbmalloc
+    list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
+else()
+    set(GTSAM_USE_TBB 0)  # This will go into config.h
+endif()
+
+###############################################################################
+# Prohibit Timing build mode in combination with TBB
+if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE  STREQUAL "Timing"))
+      message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
+endif()
diff --git a/cmake/handle_uninstall.cmake b/cmake/handle_uninstall.cmake
new file mode 100644
index 0000000000..1859b02732
--- /dev/null
+++ b/cmake/handle_uninstall.cmake
@@ -0,0 +1,10 @@
+# ----------------------------------------------------------------------------
+#   Uninstall target, for "make uninstall"
+# ----------------------------------------------------------------------------
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+  IMMEDIATE @ONLY)
+
+add_custom_target(uninstall
+  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index 9abd4e31dc..52d56a2b58 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -2,6 +2,10 @@
 
 include(GtsamMatlabWrap)
 
+# Record the root dir for gtsam - needed during external builds, e.g., ROS
+set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
+message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
+
 # Tests
 #message(STATUS "Installing Matlab Toolbox")
 install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")
@@ -21,7 +25,7 @@ install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "README-gtsam-toolbox.
 file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
 file(GLOB matlab_examples_data_mat "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat")
 file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
-set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt}) 
+set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt})
 if(GTSAM_BUILD_TYPE_POSTFIXES)
 	foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
 		string(TOUPPER "${build_type}" build_type_upper)
@@ -38,4 +42,3 @@ if(GTSAM_BUILD_TYPE_POSTFIXES)
 else()
 	install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data)
 endif()
-

From 8b2b7476e1d304ac7a09d5315ee13674fe7b5f40 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Tue, 6 Oct 2020 22:58:21 +0200
Subject: [PATCH 2/5] Remove obsolete comments

---
 cmake/handle_eigen.cmake | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/cmake/handle_eigen.cmake b/cmake/handle_eigen.cmake
index 690da69712..4aaf4f2eff 100644
--- a/cmake/handle_eigen.cmake
+++ b/cmake/handle_eigen.cmake
@@ -1,11 +1,5 @@
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
-### These patches only affect usage of MKL. If you want to enable MKL, you *must*
-### use our patched version of Eigen
-### See:  http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
-###       http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
-option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
 
 # Switch for using system Eigen or GTSAM-bundled Eigen
 if(GTSAM_USE_SYSTEM_EIGEN)

From b1c2e0174b5cdc20470354b308ff6c2cd2a883d3 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Tue, 6 Oct 2020 22:58:42 +0200
Subject: [PATCH 3/5] Use system eigen3 only if first quietly found.

---
 cmake/handle_eigen.cmake | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/cmake/handle_eigen.cmake b/cmake/handle_eigen.cmake
index 4aaf4f2eff..69111303df 100644
--- a/cmake/handle_eigen.cmake
+++ b/cmake/handle_eigen.cmake
@@ -1,6 +1,22 @@
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
 
+# Default: Use system Eigen if it's present:
+find_package(Eigen3 QUIET)
+if (Eigen3_FOUND)
+  set(SYS_EIGEN3_DEFAULT_ ON)
+else()
+  set(SYS_EIGEN3_DEFAULT_ OFF)
+endif()
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${SYS_EIGEN3_DEFAULT_})
+unset(SYS_EIGEN3_DEFAULT_)
+
+if(NOT GTSAM_USE_SYSTEM_EIGEN)
+  # This option only makes sense if using the embedded copy of Eigen, it is
+  # used to decide whether to *install* the "unsupported" module:
+  option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
+endif()
+
 # Switch for using system Eigen or GTSAM-bundled Eigen
 if(GTSAM_USE_SYSTEM_EIGEN)
     find_package(Eigen3 REQUIRED)

From 8cb22624e0520315f402cf2255857301634a9041 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Wed, 7 Oct 2020 17:02:39 +0200
Subject: [PATCH 4/5] Use camel case for cmake files

---
 CMakeLists.txt                                | 34 +++++++++----------
 ...llocators.cmake => HandleAllocators.cmake} |  0
 .../{handle_boost.cmake => HandleBoost.cmake} |  0
 ...handle_ccache.cmake => HandleCCache.cmake} |  0
 .../{handle_cpack.cmake => HandleCPack.cmake} |  0
 .../{handle_eigen.cmake => HandleEigen.cmake} |  0
 ...l_checks.cmake => HandleFinalChecks.cmake} |  0
 ...tions.cmake => HandleGeneralOptions.cmake} |  0
 ...ags.cmake => HandleGlobalBuildFlags.cmake} |  0
 cmake/{handle_mkl.cmake => HandleMKL.cmake}   |  0
 ...handle_openmp.cmake => HandleOpenMP.cmake} |  0
 ..._perftools.cmake => HandlePerfTools.cmake} |  0
 ...n.cmake => HandlePrintConfiguration.cmake} |  0
 ...handle_python.cmake => HandlePython.cmake} |  0
 cmake/{handle_tbb.cmake => HandleTBB.cmake}   |  0
 ..._uninstall.cmake => HandleUninstall.cmake} |  0
 16 files changed, 17 insertions(+), 17 deletions(-)
 rename cmake/{handle_allocators.cmake => HandleAllocators.cmake} (100%)
 rename cmake/{handle_boost.cmake => HandleBoost.cmake} (100%)
 rename cmake/{handle_ccache.cmake => HandleCCache.cmake} (100%)
 rename cmake/{handle_cpack.cmake => HandleCPack.cmake} (100%)
 rename cmake/{handle_eigen.cmake => HandleEigen.cmake} (100%)
 rename cmake/{handle_final_checks.cmake => HandleFinalChecks.cmake} (100%)
 rename cmake/{handle_general_options.cmake => HandleGeneralOptions.cmake} (100%)
 rename cmake/{handle_global_build_flags.cmake => HandleGlobalBuildFlags.cmake} (100%)
 rename cmake/{handle_mkl.cmake => HandleMKL.cmake} (100%)
 rename cmake/{handle_openmp.cmake => HandleOpenMP.cmake} (100%)
 rename cmake/{handle_perftools.cmake => HandlePerfTools.cmake} (100%)
 rename cmake/{handle_print_configuration.cmake => HandlePrintConfiguration.cmake} (100%)
 rename cmake/{handle_python.cmake => HandlePython.cmake} (100%)
 rename cmake/{handle_tbb.cmake => HandleTBB.cmake} (100%)
 rename cmake/{handle_uninstall.cmake => HandleUninstall.cmake} (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 831ee00f3b..35c487fd34 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,21 +38,21 @@ 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()
 
-include(cmake/handle_boost.cmake)            # Boost
-include(cmake/handle_ccache.cmake)           # ccache
-include(cmake/handle_cpack.cmake)            # CPack
-include(cmake/handle_eigen.cmake)            # Eigen3
-include(cmake/handle_general_options.cmake)  # CMake build options
-include(cmake/handle_mkl.cmake)              # MKL
-include(cmake/handle_openmp.cmake)           # OpenMP
-include(cmake/handle_perftools.cmake)        # Google perftools
-include(cmake/handle_python.cmake)           # Python options and commands
-include(cmake/handle_tbb.cmake)              # TBB
-include(cmake/handle_uninstall.cmake)        # for "make uninstall"
-
-include(cmake/handle_allocators.cmake)       # Must be after tbb, pertools
-
-include(cmake/handle_global_build_flags.cmake) # Build flags
+include(cmake/HandleBoost.cmake)            # Boost
+include(cmake/HandleCCache.cmake)           # ccache
+include(cmake/HandleCPack.cmake)            # CPack
+include(cmake/HandleEigen.cmake)            # Eigen3
+include(cmake/HandleGeneralOptions.cmake)  # CMake build options
+include(cmake/HandleMKL.cmake)              # MKL
+include(cmake/HandleOpenMP.cmake)           # OpenMP
+include(cmake/HandlePerfTools.cmake)        # Google perftools
+include(cmake/HandlePython.cmake)           # Python options and commands
+include(cmake/HandleTBB.cmake)              # TBB
+include(cmake/HandleUninstall.cmake)        # for "make uninstall"
+
+include(cmake/HandleAllocators.cmake)       # Must be after tbb, pertools
+
+include(cmake/HandleGlobalBuildFlags.cmake) # Build flags
 
 ###############################################################################
 # Add components
@@ -104,10 +104,10 @@ endif()
 add_subdirectory(cmake)
 
 # Print configuration variables
-include(cmake/handle_print_configuration.cmake)
+include(cmake/HandlePrintConfiguration.cmake)
 
 # Print warnings at the end
-include(cmake/handle_final_checks.cmake)
+include(cmake/HandleFinalChecks.cmake)
 
 # Include CPack *after* all flags
 include(CPack)
diff --git a/cmake/handle_allocators.cmake b/cmake/HandleAllocators.cmake
similarity index 100%
rename from cmake/handle_allocators.cmake
rename to cmake/HandleAllocators.cmake
diff --git a/cmake/handle_boost.cmake b/cmake/HandleBoost.cmake
similarity index 100%
rename from cmake/handle_boost.cmake
rename to cmake/HandleBoost.cmake
diff --git a/cmake/handle_ccache.cmake b/cmake/HandleCCache.cmake
similarity index 100%
rename from cmake/handle_ccache.cmake
rename to cmake/HandleCCache.cmake
diff --git a/cmake/handle_cpack.cmake b/cmake/HandleCPack.cmake
similarity index 100%
rename from cmake/handle_cpack.cmake
rename to cmake/HandleCPack.cmake
diff --git a/cmake/handle_eigen.cmake b/cmake/HandleEigen.cmake
similarity index 100%
rename from cmake/handle_eigen.cmake
rename to cmake/HandleEigen.cmake
diff --git a/cmake/handle_final_checks.cmake b/cmake/HandleFinalChecks.cmake
similarity index 100%
rename from cmake/handle_final_checks.cmake
rename to cmake/HandleFinalChecks.cmake
diff --git a/cmake/handle_general_options.cmake b/cmake/HandleGeneralOptions.cmake
similarity index 100%
rename from cmake/handle_general_options.cmake
rename to cmake/HandleGeneralOptions.cmake
diff --git a/cmake/handle_global_build_flags.cmake b/cmake/HandleGlobalBuildFlags.cmake
similarity index 100%
rename from cmake/handle_global_build_flags.cmake
rename to cmake/HandleGlobalBuildFlags.cmake
diff --git a/cmake/handle_mkl.cmake b/cmake/HandleMKL.cmake
similarity index 100%
rename from cmake/handle_mkl.cmake
rename to cmake/HandleMKL.cmake
diff --git a/cmake/handle_openmp.cmake b/cmake/HandleOpenMP.cmake
similarity index 100%
rename from cmake/handle_openmp.cmake
rename to cmake/HandleOpenMP.cmake
diff --git a/cmake/handle_perftools.cmake b/cmake/HandlePerfTools.cmake
similarity index 100%
rename from cmake/handle_perftools.cmake
rename to cmake/HandlePerfTools.cmake
diff --git a/cmake/handle_print_configuration.cmake b/cmake/HandlePrintConfiguration.cmake
similarity index 100%
rename from cmake/handle_print_configuration.cmake
rename to cmake/HandlePrintConfiguration.cmake
diff --git a/cmake/handle_python.cmake b/cmake/HandlePython.cmake
similarity index 100%
rename from cmake/handle_python.cmake
rename to cmake/HandlePython.cmake
diff --git a/cmake/handle_tbb.cmake b/cmake/HandleTBB.cmake
similarity index 100%
rename from cmake/handle_tbb.cmake
rename to cmake/HandleTBB.cmake
diff --git a/cmake/handle_uninstall.cmake b/cmake/HandleUninstall.cmake
similarity index 100%
rename from cmake/handle_uninstall.cmake
rename to cmake/HandleUninstall.cmake

From 69b2cacbe7d408e92de011a82116007bcf03f590 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Wed, 7 Oct 2020 17:03:20 +0200
Subject: [PATCH 5/5] Revert use system Eigen if found

---
 cmake/HandleEigen.cmake | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
index 69111303df..fda441907d 100644
--- a/cmake/HandleEigen.cmake
+++ b/cmake/HandleEigen.cmake
@@ -1,15 +1,7 @@
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
 
-# Default: Use system Eigen if it's present:
-find_package(Eigen3 QUIET)
-if (Eigen3_FOUND)
-  set(SYS_EIGEN3_DEFAULT_ ON)
-else()
-  set(SYS_EIGEN3_DEFAULT_ OFF)
-endif()
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${SYS_EIGEN3_DEFAULT_})
-unset(SYS_EIGEN3_DEFAULT_)
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
 
 if(NOT GTSAM_USE_SYSTEM_EIGEN)
   # This option only makes sense if using the embedded copy of Eigen, it is