diff --git a/CMakeLists.txt b/CMakeLists.txt
index b3be6263..6a60adc0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
-add_definitions(-std=c++11)
+add_definitions(-std=c++17)
 
 set(CXX_FLAGS "-Wall")
 set(CMAKE_CXX_FLAGS, "${CXX_FLAGS}")
@@ -8,15 +8,16 @@ set(CMAKE_CXX_FLAGS, "${CXX_FLAGS}")
 project(playback)
 
 find_package(PCL 1.2 REQUIRED)
+find_package(Boost COMPONENTS filesystem REQUIRED)
 
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
+include_directories(${PCL_INCLUDE_DIRS} ${BOOST_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS} ${Boost_DEFINITIONS})
 list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
 
 
 add_executable (environment src/environment.cpp src/render/render.cpp src/processPointClouds.cpp)
-target_link_libraries (environment ${PCL_LIBRARIES})
+target_link_libraries (environment ${PCL_LIBRARIES} ${Boost_LIBRARIES})
 
 
 
diff --git a/Makefile b/Makefile
index 311c8298..5bdb809e 100644
--- a/Makefile
+++ b/Makefile
@@ -20,6 +20,11 @@ BUILD.DIR=$(BASE.DIR)/build_cmd
 build: .FORCE
 	rm -rf $(BUILD.DIR) && mkdir -p $(BUILD.DIR)
 	cmake $(BASE.DIR) -B$(BUILD.DIR) -DCMAKE_TOOLCHAIN_FILE=$(VCPKG.ROOT)/scripts/buildsystems/vcpkg.cmake -DVCPKG_TARGET_TRIPLET=$(TRIPLET.NAME) -DVCPKG_HOST_TRIPLET=$(TRIPLET.NAME) -DVCPKG_BUILD_TYPE=release -DVCPKG_INSTALLED_DIR=$(BASE.DIR)/vcpkg_installed -DCMAKE_INSTALL_PREFIX=$(INSTALL.DIR) -DBUILD_SHARED_LIBS=0 -DSKIP_TESTS=0 && \
-	cd $(BUILD.DIR) && cmake --build . && VERBOSE=1 make install
+	cd $(BUILD.DIR) && cmake --build .
+
+APP.BIN=$(BUILD.DIR)/environment
+run: .FORCE
+	export LD_LIBRARY_PATH=$(BASE.DIR)/vcpkg_installed/$(TRIPLET.NAME)/lib:$(BASE.DIR)/vcpkg_installed/$(TRIPLET.NAME)/debug/lib:$(INSTALL.DIR)/lib && \
+	$(APP.BIN)
 
 .FORCE:
\ No newline at end of file
diff --git a/src/processPointClouds.h b/src/processPointClouds.h
index a83dc983..c6d3553e 100644
--- a/src/processPointClouds.h
+++ b/src/processPointClouds.h
@@ -3,6 +3,12 @@
 #ifndef PROCESSPOINTCLOUDS_H_
 #define PROCESSPOINTCLOUDS_H_
 
+#include <iostream> 
+#include <string>  
+#include <vector>
+#include <ctime>
+#include <chrono>
+
 #include <pcl/io/pcd_io.h>
 #include <pcl/common/common.h>
 #include <pcl/filters/extract_indices.h>
@@ -12,11 +18,8 @@
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl/segmentation/extract_clusters.h>
 #include <pcl/common/transforms.h>
-#include <iostream> 
-#include <string>  
-#include <vector>
-#include <ctime>
-#include <chrono>
+#include <boost/filesystem.hpp>
+
 #include "render/box.h"
 
 template<typename PointT>