diff --git a/CMakeLists.txt b/CMakeLists.txt
index 91429ee31..c3b2ccb20 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,14 +3,21 @@ project(LAS_VEGAS VERSION 2)
 
 # OPTIONS
 option(BUILD_EXAMPLES "Build the examples" OFF)
+option(BUILD_VIEWER "Build lvr2_viewer" OFF)
+option(BUILD_TOOLS "Build tools including lvr2_reconstruct" ON)
+option(BUILD_TOOLS_EXPERIMENTAL "Build experimental tools" OFF)
+option(WITH_DRACO "Build libraries with draco enabled" OFF)
 
 set_property(GLOBAL PROPERTY USE_FOLDERS On)
 set_property(GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS ON)
 
+
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 include(GNUInstallDirs)
 
+
+
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
@@ -54,9 +61,6 @@ if(MSVC)
   list(APPEND LVR2_DEFINITIONS -DNOMINMAX)
 else(MSVC)
   add_compile_options(-fmessage-length=0 -fPIC -Wno-deprecated)
-  # with cmake 3.3
-  add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=c++1z>)
-  set(CMAKE_CXX_STANDARD 17)
 endif(MSVC)
 
 ###############################################################################
@@ -86,7 +90,7 @@ endif(GDAL_FOUND)
 #------------------------------------------------------------------------------
 option(WITH_CUDA "Compile with CUDA support" ON)
 if(NOT APPLE AND WITH_CUDA)
-find_package( CUDA 8)
+find_package( CUDA )
 if(CUDA_FOUND)
   message(STATUS "Found CUDA")
     include_directories(${CUDA_INCLUDE_DIRS})
@@ -160,63 +164,75 @@ endif()
 #------------------------------------------------------------------------------
 # Searching for Draco
 #------------------------------------------------------------------------------
+if(WITH_DRACO)
 find_package(Draco)
 if(draco_FOUND)
   message(STATUS "Found Draco")
   include_directories(${draco_INCLUDE_DIRS})
   list(APPEND LVR2_DEFINITIONS -DLVR2_USE_DRACO)
 endif(draco_FOUND)
+else(WITH_DRACO)
+  set(draco_FOUND False)
+endif(WITH_DRACO)
 
 #------------------------------------------------------------------------------
 # Searching for VTK
 #------------------------------------------------------------------------------
-set(VTK_QT_VERSION 5)
-find_package(VTK REQUIRED)
+if(BUILD_VIEWER)
+#------
+# Here I assume VTK is only required for the lvr2_viewer
+# - VTK doesnt occur in the core library
+#------
 
-if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_EQUAL "8")
-  # patched QVTKOpenGL header because of name clash with signals.
-  add_subdirectory(ext/QVTKOpenGLWidget)
-  include_directories(BEFORE ${QVTK_PATCHED_INCLUDE_DIR} )
-  list(APPEND LVR2_INSTALL_INCLUDE_DIRS ${QVTK_PATCHED_INCLUDE_DIR})
+  set(VTK_QT_VERSION 5)
+  find_package(VTK REQUIRED)
 
-  list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK8)
-endif()
+  if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_EQUAL "8")
+    # patched QVTKOpenGL header because of name clash with signals.
+    add_subdirectory(ext/QVTKOpenGLWidget)
+    include_directories(BEFORE ${QVTK_PATCHED_INCLUDE_DIR} )
+    list(APPEND LVR2_INSTALL_INCLUDE_DIRS ${QVTK_PATCHED_INCLUDE_DIR})
 
-if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_LESS "6")
-  list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK5)
-endif()
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK8)
+  endif()
 
-if(VTK_MAJOR_VERSION VERSION_EQUAL "7")
-    if(VTK_MINOR_VERSION VERSION_GREATER "0")
-        list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
-    endif()
-endif()
+  if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_LESS "6")
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK5)
+  endif()
 
-if(VTK_MAJOR_VERSION VERSION_GREATER "7")
-  list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
-endif()
+  if(VTK_MAJOR_VERSION VERSION_EQUAL "7")
+      if(VTK_MINOR_VERSION VERSION_GREATER "0")
+          list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
+      endif()
+  endif()
 
-if(VTK_VERSION VERSION_GREATER "7")
+  if(VTK_MAJOR_VERSION VERSION_GREATER "7")
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
+  endif()
 
-  list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
-  set(VTK_COMPONENTS "${VTK_AVAILABLE_COMPONENTS}")
-  set(VTK_HAS_QT OFF)
-  foreach(VTK_COMPONENT ${VTK_COMPONENTS})
-    if("${VTK_COMPONENT}" STREQUAL "GUISupportQt")
-      set(VTK_HAS_QT ON)
-    endif()
-  endforeach()
+  if(VTK_VERSION VERSION_GREATER "7")
 
-  message(STATUS "VTK > 7 found")
-  if(VTK_HAS_QT)
-    message(STATUS "Found VTK compoment QVTK")
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
+    set(VTK_COMPONENTS "${VTK_AVAILABLE_COMPONENTS}")
+    set(VTK_HAS_QT OFF)
+    foreach(VTK_COMPONENT ${VTK_COMPONENTS})
+      if("${VTK_COMPONENT}" STREQUAL "GUISupportQt")
+        set(VTK_HAS_QT ON)
+      endif()
+    endforeach()
+
+    message(STATUS "VTK > 7 found")
+    if(VTK_HAS_QT)
+      message(STATUS "Found VTK compoment QVTK")
+    endif()
   endif()
-endif()
+
+endif(BUILD_VIEWER)
 
 #------------------------------------------------------------------------------
 # Searching for NABO
 #------------------------------------------------------------------------------
-find_package(Nabo)
+find_package(NABO)
 if(NABO_FOUND)
   include_directories(${NABO_INCLUDE_DIRS})
   list(APPEND LVR2_DEFINITIONS -DLVR2_USE_NABO)
@@ -426,17 +442,19 @@ option(WITH_KINFU "Compile LVR Kinfu" OFF)
 # compatible to gcc4.8. Older CUDA versions require GCC lower
 # than 4.8
 ###############################################################################
-if(CUDA_FOUND AND "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU"
-              AND CUDA_VERSION VERSION_GREATER 8
-              AND CUDA_VERSION VERSION_LESS 10)
-    if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 5 )
-        message(STATUS "******************************************************************")
-        message(STATUS "* Your gcc version needs to be lower than 6 to compile the LVR   *")
-        message(STATUS "* CUDA library and apps with CUDA. Setting CUDA_HOST_COMPILER to *")
-        message(STATUS "* g++-6*. Please ensure that g++ 6 is installed on your system.  *")
-        message(STATUS "******************************************************************")
-        set(CUDA_HOST_COMPILER "g++-6" CACHE STRING "" FORCE)
-        endif()
+if(CUDA_FOUND)
+  include(max_cuda_gcc_version)
+  max_cuda_gcc_version(CUDA_VERSION MAX_CUDA_GCC_VERSION)
+  message(STATUS "Highest supported GCC version for CUDA: ${MAX_CUDA_GCC_VERSION}")
+
+  if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER ${MAX_CUDA_GCC_VERSION})
+    message(STATUS "******************************************************************")
+    message(STATUS "* Your gcc version needs to be lower than or equal ${MAX_CUDA_GCC_VERSION} to compile  *")
+    message(STATUS "* the CUDA library and apps. Setting CUDA_HOST_COMPILER to       *")
+    message(STATUS "* g++-${MAX_CUDA_GCC_VERSION}. Please ensure that g++-${MAX_CUDA_GCC_VERSION} is installed on your system.   *")
+    message(STATUS "******************************************************************")
+    set(CUDA_HOST_COMPILER "g++-${MAX_CUDA_GCC_VERSION}" CACHE STRING "" FORCE)
+  endif()
 endif()
 
 if(CUDA_FOUND AND "${OpenCV_VERSION_PATCH}" VERSION_GREATER "8" AND WITH_KINFU)
@@ -472,12 +490,9 @@ endif()
 ###############################################################################
 # HEADERS
 ###############################################################################
-
 install(DIRECTORY include/lvr2 DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 list(APPEND LVR2_INSTALL_INCLUDE_DIRS ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_INCLUDEDIR})
 
-
-
 ###############################################################################
 # VTK use file include. Has to be called after all CUDA code
 # was generated and compiled. The VTK definitions corrupt the
@@ -492,19 +507,20 @@ endif()
 ###############################################################################
 # LVR2 VIEWER CHECKS
 ###############################################################################
-
-find_package(Qt5 COMPONENTS Core Widgets Xml OpenGL)
-if(Qt5_FOUND)
-  message(STATUS "Found QT5")
-  find_package(QVTK)
-  if(QVTK_FOUND)
-    message(STATUS "Found QVTK ${QVTK_INCLUDE_DIR}")
-    include_directories(${QVTK_INCLUDE_DIR})
-    add_subdirectory(src/tools/lvr2_viewer)
-  elseif(DEFINED VTK_VERSION AND VTK_VERSION VERSION_GREATER "7" AND VTK_HAS_QT)
-    add_subdirectory(src/tools/lvr2_viewer)
-  endif(QVTK_FOUND)
-endif(Qt5_FOUND)
+if(BUILD_VIEWER)
+  find_package(Qt5 COMPONENTS Core Widgets Xml OpenGL)
+  if(Qt5_FOUND)
+    message(STATUS "Found QT5")
+    find_package(QVTK)
+    if(QVTK_FOUND)
+      message(STATUS "Found QVTK ${QVTK_INCLUDE_DIR}")
+      include_directories(${QVTK_INCLUDE_DIR})
+      add_subdirectory(src/tools/lvr2_viewer)
+    elseif(DEFINED VTK_VERSION AND VTK_VERSION VERSION_GREATER "7" AND VTK_HAS_QT)
+      add_subdirectory(src/tools/lvr2_viewer)
+    endif(QVTK_FOUND)
+  endif(Qt5_FOUND)
+endif(BUILD_VIEWER)
 
 ###############################################################################
 # LVR2 ASCII VIEWER CHECKS
@@ -584,45 +600,51 @@ add_subdirectory(src/liblvr2)
 # BINARIES
 ###############################################################################
 
-add_subdirectory(src/tools/lvr2_reconstruct)
-add_subdirectory(src/tools/lvr2_dmc_reconstruction)
-add_subdirectory(src/tools/lvr2_gs_reconstruction)
-add_subdirectory(src/tools/lvr2_largescale_reconstruct)
-add_subdirectory(src/tools/lvr2_asciiconverter)
-add_subdirectory(src/tools/lvr2_transform)
-add_subdirectory(src/tools/lvr2_kaboom)
-add_subdirectory(src/tools/lvr2_octree_test)
-add_subdirectory(src/tools/lvr2_image_normals)
-add_subdirectory(src/tools/lvr2_plymerger)
-# add_subdirectory(src/tools/lvr2_hdf5_builder)
-add_subdirectory(src/tools/lvr2_hdf5_builder_2)
-add_subdirectory(src/tools/lvr2_hdf5_mesh_builder)
-add_subdirectory(src/tools/lvr2_slam2hdf5)
-add_subdirectory(src/tools/lvr2_hdf5togeotiff)
-add_subdirectory(src/tools/lvr2_slam6d_merger)
-add_subdirectory(src/tools/lvr2_chunking)
-add_subdirectory(src/tools/lvr2_registration)
-add_subdirectory(src/tools/lvr2_mesh_reducer)
-add_subdirectory(src/tools/lvr2_chunking_server)
-add_subdirectory(src/tools/lvr2_scanproject_parser)
-
-if(CURSES_FOUND AND embree_FOUND)
-    add_subdirectory(src/tools/lvr2_ascii_viewer)
-endif()
+if(BUILD_TOOLS)
+  add_subdirectory(src/tools/lvr2_reconstruct)
+  add_subdirectory(src/tools/lvr2_mesh_reducer)
+endif(BUILD_TOOLS)
+
+if(BUILD_TOOLS_EXPERIMENTAL)
+  add_subdirectory(src/tools/lvr2_dmc_reconstruction)
+  add_subdirectory(src/tools/lvr2_gs_reconstruction)
+  add_subdirectory(src/tools/lvr2_largescale_reconstruct)
+  add_subdirectory(src/tools/lvr2_asciiconverter)
+  add_subdirectory(src/tools/lvr2_transform)
+  add_subdirectory(src/tools/lvr2_kaboom)
+  add_subdirectory(src/tools/lvr2_octree_test)
+  add_subdirectory(src/tools/lvr2_image_normals)
+  add_subdirectory(src/tools/lvr2_plymerger)
+  # add_subdirectory(src/tools/lvr2_hdf5_builder)
+  add_subdirectory(src/tools/lvr2_hdf5_builder_2)
+  add_subdirectory(src/tools/lvr2_hdf5_mesh_builder)
+  add_subdirectory(src/tools/lvr2_slam2hdf5)
+  add_subdirectory(src/tools/lvr2_hdf5togeotiff)
+  add_subdirectory(src/tools/lvr2_slam6d_merger)
+  add_subdirectory(src/tools/lvr2_chunking)
+  add_subdirectory(src/tools/lvr2_registration)
+  add_subdirectory(src/tools/lvr2_chunking_server)
+  add_subdirectory(src/tools/lvr2_scanproject_parser)
+
+  if(CURSES_FOUND AND embree_FOUND)
+      add_subdirectory(src/tools/lvr2_ascii_viewer)
+  endif()
 
-if (RiVLib_FOUND)
-    #add_subdirectory(src/tools/lvr2_riegl_project_converter)
-endif()
+  if (RiVLib_FOUND)
+      #add_subdirectory(src/tools/lvr2_riegl_project_converter)
+  endif()
 
-if(CUDA_FOUND)
-#    cuda_include_directories(ext/CTPL)
-    add_subdirectory(src/tools/lvr2_cuda_normals)
-endif()
+  if(CUDA_FOUND)
+  #    cuda_include_directories(ext/CTPL)
+      add_subdirectory(src/tools/lvr2_cuda_normals)
+  endif()
 
-if(OPENCL_FOUND)
-    add_subdirectory(src/tools/lvr2_cl_normals)
-    add_subdirectory(src/tools/lvr2_cl_sor)
-endif()
+  if(OPENCL_FOUND)
+      add_subdirectory(src/tools/lvr2_cl_normals)
+      add_subdirectory(src/tools/lvr2_cl_sor)
+  endif()
+
+endif(BUILD_TOOLS_EXPERIMENTAL)
 
 if(BUILD_EXAMPLES)
     add_subdirectory(examples)
@@ -635,7 +657,7 @@ endif()
 
 include(CMakePackageConfigHelpers)
 set(INCLUDE_INSTALL_DIR include/)
-set(LIB_INSTALL_DIR lib/)
+set(LIB_INSTALL_DIR lib)
 set(SYSCONFIG_INSTALL_DIR etc/lvr2/)
 
 install(EXPORT lvr2Targets
@@ -664,7 +686,7 @@ install(FILES
     CMakeModules/FindEigen3.cmake
     CMakeModules/FindFLANN.cmake
     CMakeModules/FindLz4.cmake
-    CMakeModules/FindNabo.cmake
+    CMakeModules/FindNABO.cmake
     CMakeModules/FindOpenNI.cmake
     CMakeModules/FindOpenNI2.cmake
     CMakeModules/FindQVTK.cmake
@@ -695,3 +717,5 @@ if( DOXYGEN_FOUND AND DOXYGEN_DOT_FOUND )
       WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
       COMMENT "Generating API documentation with Doxygen" VERBATIM )
 endif( DOXYGEN_FOUND AND DOXYGEN_DOT_FOUND )
+
+
diff --git a/CMakeModules/FindLz4.cmake b/CMakeModules/FindLz4.cmake
index da6ecd961..4ba578fbd 100644
--- a/CMakeModules/FindLz4.cmake
+++ b/CMakeModules/FindLz4.cmake
@@ -42,18 +42,18 @@ find_path(LZ4_INCLUDE_DIR lz4.h PATHS
 )
 
 find_library(LZ4_LIB_PATH NAMES liblz4.so liblz4.dylib PATHS ${LZ4_SEARCH_LIB_PATH} NO_DEFAULT_PATH)
+find_library(LZ4_STATIC_LIB NAMES liblz4.a PATHS ${LZ4_SEARCH_LIB_PATH} NO_DEFAULT_PATH)
 
 message(STATUS "Header ${LZ4_INCLUDE_DIR} LIB ")
 if (LZ4_INCLUDE_DIR AND LZ4_LIB_PATH)
   set(LZ4_FOUND TRUE)
   set(LZ4_LIBS ${LZ4_SEARCH_LIB_PATH})
-  set(LZ4_STATIC_LIB ${LZ4__LIB_PATH}/liblz4.a)
 
   # mac os is using dylib instead of so for lz4
   if (APPLE)
     set(LZ4_LIBRARY liblz4.dylib)
   else ()
-    set(LZ4_LIBRARY liblz4.so)
+    set(LZ4_LIBRARY ${LZ4_LIB_PATH})
   endif ()
 else ()
   set(LZ4_FOUND FALSE)
diff --git a/CMakeModules/FindNabo.cmake b/CMakeModules/FindNABO.cmake
similarity index 100%
rename from CMakeModules/FindNabo.cmake
rename to CMakeModules/FindNABO.cmake
diff --git a/CMakeModules/FindQVTK.cmake b/CMakeModules/FindQVTK.cmake
index b203afc03..34f80d976 100644
--- a/CMakeModules/FindQVTK.cmake
+++ b/CMakeModules/FindQVTK.cmake
@@ -13,7 +13,7 @@
 
 find_package(VTK)
 
-find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
+find_path (QVTK_INCLUDE_DIR QVTKOpenGLWidget.h HINT ${VTK_INCLUDE_DIRS})
 
 if(VTK_MAJOR_VERSION VERSION_LESS "6")
   find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin
diff --git a/CMakeModules/max_cuda_gcc_version.cmake b/CMakeModules/max_cuda_gcc_version.cmake
new file mode 100644
index 000000000..91da1d7d0
--- /dev/null
+++ b/CMakeModules/max_cuda_gcc_version.cmake
@@ -0,0 +1,51 @@
+# CUDA GCC Compatibility
+# See here: https://stackoverflow.com/questions/6622454/cuda-incompatible-with-my-gcc-version
+
+# CUDA version                max GCC version
+# 11.4.1+, 11.5	                     11
+# 11.1, 11.2, 11.3, 11.4.0	         10
+# 11	                                9
+# 10.1, 10.2	                        8
+# 9.2, 10.0	                          7
+# 9.0, 9.1	                          6
+# 8	                                  5.3
+# 7	                                  4.9
+# 5.5, 6	                            4.8
+# 4.2, 5	                            4.6
+# 4.1	                                4.5
+# 4.0	                                4.4
+
+# Usage: 
+# max_cuda_gcc_version(CUDA_VERSION MAX_CUDA_GCC_VERSION)
+# message(STATUS "Maximum allowed gcc version for cuda is: ${MAX_CUDA_GCC_VERSION}")
+function(max_cuda_gcc_version _CUDA_VERSION _MAX_GCC_VERSION)
+
+if(${_CUDA_VERSION} VERSION_GREATER_EQUAL 12.0.0)
+  set(${_MAX_GCC_VERSION} 12 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 11.4.0)   # 11.4.1+, 11.5  -> 11
+  set(${_MAX_GCC_VERSION} 11 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 11.0) # 11.1, 11.2, 11.3, 11.4.0 -> 10
+  set(${_MAX_GCC_VERSION} 10 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 10.2) # 11	       -> 9
+  set(${_MAX_GCC_VERSION} 9 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 10.0) # 10.1 10.2 -> 8
+  set(${_MAX_GCC_VERSION} 8 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 9.1)  # 9.2 10.0 -> 7
+  set(${_MAX_GCC_VERSION} 7 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 8)    # 9.0 9.1 -> 6
+  set(${_MAX_GCC_VERSION} 6 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 7)    # 8 -> 5.3
+  set(${_MAX_GCC_VERSION} 5.3 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 6)    # 7 -> 4.9
+  set(${_MAX_GCC_VERSION} 4.9 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 5.4)  # 5.5  6 -> 4.8
+  set(${_MAX_GCC_VERSION} 4.8 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 4.1)  # 4.2 5 -> 4.6
+  set(${_MAX_GCC_VERSION} 4.6 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 4.0)  # 4.1 -> 4.5
+  set(${_MAX_GCC_VERSION} 4.5 PARENT_SCOPE)
+elseif(${_CUDA_VERSION} VERSION_GREATER 3)    # 4.0 -> 4.4
+  set(${_MAX_GCC_VERSION} 4.4 PARENT_SCOPE)
+endif()
+
+endfunction()
\ No newline at end of file
diff --git a/LVR2Config.cmake.in b/LVR2Config.cmake.in
index f92ea8bc8..aa92103fa 100644
--- a/LVR2Config.cmake.in
+++ b/LVR2Config.cmake.in
@@ -27,12 +27,16 @@ set(LVR2_DEFINITIONS @LVR2_DEFINITIONS@)
 
 find_package(PkgConfig REQUIRED)
 
+set(LVR2_LIB_DIR @CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@)
+
 option(LVR2_USE_STATIC_LIBS OFF)
 if(LVR2_USE_STATIC_LIBS)
-  find_library(LVR2_LIBRARY NAMES lvr2_static)
+  # find_library(LVR2_LIBRARY NAMES lvr2_static)
+  set(LVR2_LIBRARY ${LVR2_LIB_DIR}/liblvr2_static.so)
   set(LVR2_LIBRARIES ${LVR2_LIBRARY})
 else()
-  find_library(LVR2_LIBRARY NAMES lvr2)
+  # find_library(LVR2_LIBRARY NAMES lvr2)
+  set(LVR2_LIBRARY ${LVR2_LIB_DIR}/liblvr2.so)
   set(LVR2_LIBRARIES ${LVR2_LIBRARY})
 endif()
 
@@ -48,7 +52,7 @@ list(APPEND LVR2_DEFINITIONS ${VTK_DEFINTIONS})
 
 # nabo
 if(@NABO_FOUND@)
-  find_package(Nabo REQUIRED)
+  find_package(NABO REQUIRED)
   list(APPEND LVR2_INCLUDE_DIRS ${NABO_INCLUDE_DIRS})
 endif()
 
diff --git a/ext/HighFive/CMake/portability/CheckCXX11Portability.cmake b/ext/HighFive/CMake/portability/CheckCXX11Portability.cmake
index 525f054a4..32ebfe11e 100644
--- a/ext/HighFive/CMake/portability/CheckCXX11Portability.cmake
+++ b/ext/HighFive/CMake/portability/CheckCXX11Portability.cmake
@@ -16,6 +16,6 @@ endif()
 
 if(NOT CXX11_INCOMPATIBLE_COMPILER)
 	set(CMAKE_REQUIRED_QUIET ON)
-	CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+  # CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
 endif()
 
diff --git a/ext/HighFive/CMakeLists.txt b/ext/HighFive/CMakeLists.txt
index bad30f6a0..25955a0ab 100644
--- a/ext/HighFive/CMakeLists.txt
+++ b/ext/HighFive/CMakeLists.txt
@@ -22,8 +22,6 @@ option(USE_BOOST "enable Boost Support" TRUE)
 option(HIGHFIVE_EXAMPLES "Compile examples" TRUE)
 option(HIGHFIVE_PARALLEL_HDF5 "Enable Parallel HDF5 support" FALSE)
 
-set(HIGHFIVE_CPP_STD_FLAG "-std=c++11" CACHE STRING "flag to use to enforce c++ standard (default:c++11)")
-
 if(HIGHFIVE_PARALLEL_HDF5)
     set(HDF5_PREFER_PARALLEL TRUE)
 endif()
@@ -42,9 +40,9 @@ if(HIGHFIVE_PARALLEL_HDF5)
   find_package(MPI)
 endif()
 
-if(NOT COMPILER_SUPPORTS_CXX11)
-    message(FATAL "HighFive version >=2.0 requires c++ standard >= c++11")
-endif()
+# if(NOT COMPILER_SUPPORTS_CXX11)
+#     message(FATAL "HighFive version >=2.0 requires c++ standard >= c++11")
+# endif()
 
 # Absolute include used to avoid interaction with downstream projects including
 # HighFive as a subproject and using the the same filename
diff --git a/ext/kintinuous/qt_app/KinfuMainWindow.ui b/ext/kintinuous/qt_app/KinfuMainWindow.ui
index 01bd6be0b..5df4b9513 100644
--- a/ext/kintinuous/qt_app/KinfuMainWindow.ui
+++ b/ext/kintinuous/qt_app/KinfuMainWindow.ui
@@ -211,7 +211,7 @@
       <item>
        <layout class="QVBoxLayout" name="verticalLayout_2">
         <item>
-         <widget class="QVTKWidget" name="qvtkWidget"/>
+         <widget class="QVTKOpenGLWidget" name="qvtkWidget"/>
         </item>
        </layout>
       </item>
@@ -233,9 +233,9 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>QVTKWidget</class>
+   <class>QVTKOpenGLWidget</class>
    <extends>QWidget</extends>
-   <header>QVTKWidget.h</header>
+   <header>QVTKOpenGLWidget.h</header>
   </customwidget>
  </customwidgets>
  <resources/>
diff --git a/ext/slam6d/CMakeLists.txt b/ext/slam6d/CMakeLists.txt
index 592c3f11c..56833f17c 100644
--- a/ext/slam6d/CMakeLists.txt
+++ b/ext/slam6d/CMakeLists.txt
@@ -14,7 +14,6 @@ set(SLAM_SOURCES
 	searchTree.cc
 	scan_io_oct.cc
 )
-set_source_files_properties(${SLAM_SOURCES} PROPERTIES COMPILE_FLAGS "-std=gnu++0x")
 
 add_library(lvr2slam6d_static STATIC ${SLAM_SOURCES})
 
diff --git a/include/lvr2/io/descriptions/ScanProjectSchema.hpp b/include/lvr2/io/descriptions/ScanProjectSchema.hpp
index 3023da664..dafdf78a1 100644
--- a/include/lvr2/io/descriptions/ScanProjectSchema.hpp
+++ b/include/lvr2/io/descriptions/ScanProjectSchema.hpp
@@ -61,6 +61,7 @@ class ScanProjectSchema
         d.groupName = group;
         d.dataSetName = "timestamps";
         d.metaData = boost::none; 
+        return d;
     }
 
     virtual Description hyperSpectralFrames(const std::string& group) const
@@ -70,6 +71,7 @@ class ScanProjectSchema
         d.groupName = group;
         d.dataSetName = "frames";
         d.metaData = boost::none; 
+        return d;
     }
 protected:
     
@@ -95,4 +97,4 @@ using HDF5SchemaPtr = std::shared_ptr<HDF5Schema>;
 
 } // namespace lvr2
 
-#endif
\ No newline at end of file
+#endif
diff --git a/package.xml b/package.xml
index c0a238ee5..ceddd69ad 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>lvr2</name>
   <version>20.11.3</version>
   <description>
@@ -31,22 +31,16 @@ The Las Vegas Surface Reconstruction Toolkit is an Open Source toolkit to recons
   <depend>libgdal-dev</depend>
   <depend>eigen</depend>
   <depend>ocl-icd-opencl-dev</depend>
-  <depend>libvtk</depend>
-  <depend>libvtk-qt</depend>
   <depend>boost</depend>
   <depend>glut</depend>
   <depend>libxi-dev</depend>
   <depend>libxmu-dev</depend>
   <depend>libhdf5-dev</depend>
-  <depend>qtbase5-dev</depend>
-  <depend>libqt5-opengl-dev</depend>
   <depend>lz4</depend>
   <depend>libopencv-dev</depend>
   <depend>yaml-cpp</depend>
 
-  <buildtool_depend>cmake</buildtool_depend>
-
   <export>
-    <build_type>cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/src/liblvr2/CMakeLists.txt b/src/liblvr2/CMakeLists.txt
index 68eedb932..9f667f4d8 100644
--- a/src/liblvr2/CMakeLists.txt
+++ b/src/liblvr2/CMakeLists.txt
@@ -149,15 +149,6 @@ set(LVR2_INTERNAL_DEPENDENCIES_SHARED
     lvr2las
     lvr2slam6d)
 
-#####################################################################################
-# Set c++0x flags for gcc compilers (needed for boctree io)
-#####################################################################################
-
-if(UNIX)
-  SET_SOURCE_FILES_PROPERTIES(io/BoctreeIO.cpp PROPERTIES COMPILE_FLAGS "-std=c++14")
-endif(UNIX)
-
-
 #####################################################################################
 # Compile object files for static and dynamic library
 #####################################################################################
@@ -200,25 +191,27 @@ endif( NOT MSVC)
 #####################################################################################
 
 if(CUDA_FOUND)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
 
     # List of CUDA kernel code sources
     set(LVR2_CUDA_SRC
         reconstruction/cuda/CudaSurface.cu
     )
 
-    # Fix broken VTK flags
-    get_directory_property(dir_defs DIRECTORY ${CMAKE_SOURCE_DIR} COMPILE_DEFINITIONS)
-    set(vtk_flags)
-    foreach(it ${dir_defs})
-        if(it MATCHES "vtk*")
-        list(APPEND vtk_flags ${it})
-        endif()
-    endforeach()
-
-    foreach(d ${vtk_flags})
-        remove_definitions(-D${d})
-    endforeach()
+    if(VTK_FOUND)
+      # Fix broken VTK flags
+      get_directory_property(dir_defs DIRECTORY ${CMAKE_SOURCE_DIR} COMPILE_DEFINITIONS)
+      set(vtk_flags)
+      foreach(it ${dir_defs})
+          if(it MATCHES "vtk*")
+          list(APPEND vtk_flags ${it})
+          endif()
+      endforeach()
+
+      foreach(d ${vtk_flags})
+          remove_definitions(-D${d})
+      endforeach()
+    endif(VTK_FOUND)
 
     message(STATUS "Building static LVR CUDA library")
     cuda_add_library(lvr2cuda_static STATIC ${LVR2_CUDA_SRC})
diff --git a/src/liblvr2/io/DracoEncoder.cpp b/src/liblvr2/io/DracoEncoder.cpp
index d0b5927fc..ebd3bbd23 100644
--- a/src/liblvr2/io/DracoEncoder.cpp
+++ b/src/liblvr2/io/DracoEncoder.cpp
@@ -60,8 +60,7 @@ int saveAttributeToDraco(ArrayType array, draco::PointCloud* drcPointcloud,
     }
 
     draco::PointAttribute attribute;
-    attribute.Init(geometryType, nullptr, size, dracoDataType, normalized, sizeof(DataType) * size,
-                   0);
+    attribute.Init(geometryType, size, dracoDataType, normalized, sizeof(DataType) * size);
     int attribute_id = drcPointcloud->AddAttribute(attribute, true, numPoints);
 
     std::array<DataType, size> tmp;
@@ -678,4 +677,4 @@ std::unique_ptr<draco::EncoderBuffer> encodeDraco(ModelPtr                   mod
     return std::unique_ptr<draco::EncoderBuffer>(nullptr);
 }
 
-} // namespace lvr
\ No newline at end of file
+} // namespace lvr
diff --git a/src/liblvr2/io/descriptions/DirectoryKernel.cpp b/src/liblvr2/io/descriptions/DirectoryKernel.cpp
index d0a76e4e5..f482aa992 100644
--- a/src/liblvr2/io/descriptions/DirectoryKernel.cpp
+++ b/src/liblvr2/io/descriptions/DirectoryKernel.cpp
@@ -78,6 +78,7 @@ MeshBufferPtr DirectoryKernel::loadMeshBuffer(
     {
         return model->m_mesh;
     }
+    return nullptr;
 }
 
 PointBufferPtr DirectoryKernel::loadPointBuffer(
@@ -93,6 +94,7 @@ PointBufferPtr DirectoryKernel::loadPointBuffer(
         std::cout << model->m_pointCloud->numPoints() << std::endl;
         return model->m_pointCloud;
     }
+    return nullptr;
 }
 
 boost::optional<cv::Mat> DirectoryKernel::loadImage(
@@ -211,4 +213,4 @@ void DirectoryKernel::saveUCharArray(const std::string& groupName, const std::st
     saveArray<unsigned char>(groupName, datasetName, dimensions, data);
 }
 
-} // namespace lvr2
\ No newline at end of file
+} // namespace lvr2
diff --git a/src/liblvr2/io/descriptions/MetaFormatFactory.cpp b/src/liblvr2/io/descriptions/MetaFormatFactory.cpp
index 922fbe3ec..b25d8716d 100644
--- a/src/liblvr2/io/descriptions/MetaFormatFactory.cpp
+++ b/src/liblvr2/io/descriptions/MetaFormatFactory.cpp
@@ -113,6 +113,7 @@ YAML::Node loadMetaInformation(const std::string &in)
         }
         return node;
     }
+    return YAML::Node();
 }
 
-} // namespace lvr2
\ No newline at end of file
+} // namespace lvr2
diff --git a/src/tools/lvr2_largescale_reconstruct/CMakeLists.txt b/src/tools/lvr2_largescale_reconstruct/CMakeLists.txt
index 6f98a0493..a4dbc4e32 100755
--- a/src/tools/lvr2_largescale_reconstruct/CMakeLists.txt
+++ b/src/tools/lvr2_largescale_reconstruct/CMakeLists.txt
@@ -17,6 +17,7 @@ set(LVR2_LS_RECONSTRUCT_DEPENDENCIES
     lvr2las_static
     lvr2rply_static
     ${LVR2_LIB_DEPENDENCIES}
+    ${LZ4_LIBRARY}
 )
 
 #####################################################################################
diff --git a/src/tools/lvr2_reconstruct/CMakeLists.txt b/src/tools/lvr2_reconstruct/CMakeLists.txt
index 4fba5a968..c8357c533 100644
--- a/src/tools/lvr2_reconstruct/CMakeLists.txt
+++ b/src/tools/lvr2_reconstruct/CMakeLists.txt
@@ -16,7 +16,9 @@ set(LVR2_RECONSTRUCT_DEPENDENCIES
     lvr2las_static
     lvr2rply_static
     lvr2slam6d_static
+    # TODO(lucasw) LZ4 should be in these already, but wasn't making it through in one case
     ${LVR2_LIB_DEPENDENCIES}
+    ${LZ4_LIBRARY}
 )
 
 if(CUDA_FOUND)
diff --git a/src/tools/lvr2_viewer/ui/LVRMainWindowUI.ui b/src/tools/lvr2_viewer/ui/LVRMainWindowUI.ui
index ee694703f..774ceafa3 100644
--- a/src/tools/lvr2_viewer/ui/LVRMainWindowUI.ui
+++ b/src/tools/lvr2_viewer/ui/LVRMainWindowUI.ui
@@ -22,7 +22,7 @@
   <widget class="QWidget" name="centralwidget">
    <layout class="QVBoxLayout" name="verticalLayout">
     <item>
-     <widget class="QVTKWidget" name="qvtkWidget" native="true"/>
+     <widget class="QVTKOpenGLWidget" name="qvtkWidget" native="true"/>
     </item>
    </layout>
   </widget>
@@ -1582,9 +1582,9 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>QVTKWidget</class>
+   <class>QVTKOpenGLWidget</class>
    <extends>QWidget</extends>
-   <header>QVTKWidget.h</header>
+   <header>QVTKOpenGLWidget.h</header>
   </customwidget>
   <customwidget>
    <class>lvr2::LVRPlotter</class>
diff --git a/src/tools/lvr2_viewer/vtkBridge/LVRLabelInteractor.cpp b/src/tools/lvr2_viewer/vtkBridge/LVRLabelInteractor.cpp
index 96b2b3f91..aea37ae8c 100644
--- a/src/tools/lvr2_viewer/vtkBridge/LVRLabelInteractor.cpp
+++ b/src/tools/lvr2_viewer/vtkBridge/LVRLabelInteractor.cpp
@@ -184,7 +184,7 @@ void LVRLabelInteractorStyle::labelSelectedPoints(QString label)
 
 void LVRLabelInteractorStyle::extractLabel()
 {
-	ofstream outfile("Test.txt");
+	std::ofstream outfile("Test.txt");
 	for (int i = 0; i < m_pointLabels.size(); i++)
 	{
 		if (m_pointLabels[i] != 0)