diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7cfba08..d976f57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,54 +1,61 @@
 PROJECT(PD-Flow)
 
-CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4) #I have no idea, mine is 3.0.2
 if(COMMAND cmake_policy)
       cmake_policy(SET CMP0003 NEW)  # Required by CMake 2.7+
 endif(COMMAND cmake_policy)
 
-
-FIND_PACKAGE(MRPT REQUIRED base gui opengl slam maps)
-FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(CUDA REQUIRED)
-
-INCLUDE_DIRECTORIES($ENV{OPENNI2_INCLUDE})
-LINK_DIRECTORIES($ENV{OPENNI2_LIB})
-#SET(OpenNI_lib "/usr/lib/libOpenNI2.so")
-SET(OpenNI_lib "C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib")
-
 INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
-#set(CUDA_NVCC_FLAGS "-arch=sm_30 -O3 -use_fast_math")
-set(CUDA_NVCC_FLAGS "-arch=sm_30")
-#set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-gencode arch=compute_35,code=sm_35)
+set(CUDA_NVCC_FLAGS "-arch=sm_20")
+
+#Build scene flow CUDA lib
 CUDA_ADD_LIBRARY(pdflow_cudalib pdflow_cudalib.h pdflow_cudalib.cu)
 #message( ${CUDA_LIBRARIES} )
 
-		
-ADD_EXECUTABLE(Scene-Flow-Visualization  
-	main_scene_flow_visualization.cpp
-	scene_flow_visualization.cpp
-	scene_flow_visualization.h
-	legend_pdflow.xpm)
-	
-TARGET_LINK_LIBRARIES(Scene-Flow-Visualization
-		${MRPT_LIBS}
-		${CUDA_LIBRARIES}
-		${OpenNI_lib}
-		pdflow_cudalib)
-
-ADD_EXECUTABLE(Scene-Flow-Impair  
-	main_scene_flow_impair.cpp
-	scene_flow_impair.cpp
-	scene_flow_impair.h
-	)
+SET(DEFAULT_BUILD_EVALUATOR ON)
+SET(BUILD_EVALUATOR ${DEFAULT_BUILD_EVALUATOR} CACHE BOOL "Build the scene flow evaluator for a RGB-D frame pair that uses OpenCV")
+
+#Build the scene flow evaluator
+IF (BUILD_EVALUATOR)
+	FIND_PACKAGE(OpenCV REQUIRED)
 	
-TARGET_LINK_LIBRARIES(Scene-Flow-Impair 
-		${OpenCV_LIBS}
-		${CUDA_LIBRARIES}
-		${MRPT_LIBS}
-		pdflow_cudalib)		
+	ADD_EXECUTABLE(Scene-Flow-Impair  
+		main_scene_flow_impair.cpp
+		scene_flow_impair.cpp
+		scene_flow_impair.h)
+		
+	TARGET_LINK_LIBRARIES(Scene-Flow-Impair 
+			${OpenCV_LIBS}
+			${CUDA_LIBRARIES}
+			pdflow_cudalib)		
+ENDIF (BUILD_EVALUATOR)
+
+SET(DEFAULT_BUILD_RT_VISUALIZATION ON)
+SET(BUILD_RT_VISUALIZATION ${DEFAULT_BUILD_RT_VISUALIZATION} CACHE BOOL "Build the scene flow estimator with real-time visualization that uses MRPT and OpenNI2")
+
+IF (BUILD_RT_VISUALIZATION)
+	FIND_PACKAGE(MRPT REQUIRED base gui opengl)
+
+	INCLUDE_DIRECTORIES($ENV{OPENNI2_INCLUDE})
+	LINK_DIRECTORIES($ENV{OPENNI2_LIB})
+	#SET(OpenNI_lib "/usr/lib/libOpenNI2.so")
+	SET(OpenNI_lib "C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib")
+
+	ADD_EXECUTABLE(Scene-Flow-Visualization  
+		main_scene_flow_visualization.cpp
+		scene_flow_visualization.cpp
+		scene_flow_visualization.h
+		legend_pdflow.xpm)
+		
+	TARGET_LINK_LIBRARIES(Scene-Flow-Visualization
+			${MRPT_LIBS}
+			${CUDA_LIBRARIES}
+			${OpenNI_lib}
+			pdflow_cudalib)
+ENDIF (BUILD_RT_VISUALIZATION)			
 
 			
- 
 # Set optimized building:
 IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
 	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mtune=native")