OKVIS with -march=native disabled and use shared libraries

okvis_1dce912_marchnative_disabled.patch

diff --git a/.gitignore b/.gitignore
index 7ee7366..f764f90 100644
--- a/.gitignore
+++ b/.gitignore
@@ -29,3 +29,5 @@
 
 # Docu
 documentation/html/
+
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c7415a..7e1974a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,8 @@ set(OKVIS_PATCH_VERSION 3)
 set(OKVIS_VERSION
   ${OKVIS_MAJOR_VERSION}.${OKVIS_MINOR_VERSION}.${OKVIS_PATCH_VERSION})
 
+OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
+
 # options for build configuration
 option (USE_SYSTEM_BRISK
         "Use brisk via find_package rather than downloading it as part of okvis" OFF) 
@@ -60,7 +62,7 @@ if(APPLE)
   # possible on OSX just yet.
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++11 -fPIC")
 else()
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++11 -fPIC")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -Wall -std=c++11 -fPIC")
 endif()
 
 if(${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "arm*")
@@ -113,22 +115,25 @@ else()
   ExternalProject_Add(brisk_external
     URL "https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.3.zip"    
     INSTALL_DIR ${CMAKE_BINARY_DIR}
+    PATCH_COMMAND # forcing static libs
+        COMMAND ${CMAKE_COMMAND} -E copy ${PROJECT_SOURCE_DIR}/cmake/brisk/CMakeLists.txt ${CMAKE_CURRENT_BINARY_DIR}/brisk/src/brisk_external/CMakeLists.txt
+        COMMAND ${CMAKE_COMMAND} -E copy ${PROJECT_SOURCE_DIR}/cmake/brisk/agast/CMakeLists.txt ${CMAKE_CURRENT_BINARY_DIR}/brisk/src/brisk_external/agast/CMakeLists.txt
     CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
     PREFIX ${CMAKE_CURRENT_BINARY_DIR}/brisk
     BUILD_IN_SOURCE 0
     BUILD_COMMAND make -j${N_CORES}
     INSTALL_COMMAND make install
   )
-  add_library(brisk STATIC IMPORTED)
-  add_library(agast STATIC IMPORTED)
+  add_library(brisk SHARED IMPORTED)
+  add_library(agast SHARED IMPORTED)
   set(BRISK_LIBRARIES brisk agast)
-  set_target_properties(brisk PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/libbrisk.a)
-  set_target_properties(agast PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/libagast.a)
+  set_target_properties(brisk PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/libbrisk.so)
+  set_target_properties(agast PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/libagast.so)
   add_dependencies(brisk brisk_external)
   add_dependencies(agast brisk_external)
 
   # install it once built
-  install(FILES ${CMAKE_BINARY_DIR}/lib/libbrisk.a ${CMAKE_BINARY_DIR}/lib/libagast.a 
+  install(FILES ${CMAKE_BINARY_DIR}/lib/libbrisk.so ${CMAKE_BINARY_DIR}/lib/libagast.so 
     DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
   install(DIRECTORY ${CMAKE_BINARY_DIR}/include/brisk/ 
     DESTINATION ${CMAKE_INSTALL_PREFIX}/include/brisk/)
@@ -155,6 +160,7 @@ else()
     CMAKE_ARGS 
       -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> 
       -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+      -DBUILD_SHARED_LIBS:BOOL=ON
       -DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS} 
       -DBUILD_EXAMPLES:BOOL=OFF
       -DBUILD_TESTING:BOOL=OFF
@@ -181,10 +187,10 @@ else()
 
   if ("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
     set_property(TARGET ceres PROPERTY IMPORTED_LOCATION
-               ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres-debug.a )
+               ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres-debug.so )
   else () 
     set_property(TARGET ceres PROPERTY IMPORTED_LOCATION
-               ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres.a )
+               ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres.so )
   endif ()
    
   find_package(OpenMP QUIET)
@@ -199,7 +205,11 @@ else()
   add_dependencies(${CERES_LIBRARIES} ceres_external)
 
   # install it once built
-  install(FILES ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres.a 
+  install(FILES ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres.so 
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+  install(FILES ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres.so.1 
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+  install(FILES ${CMAKE_BINARY_DIR}/${CERES_LIB_PREFIX}/libceres.so.${CERES_VERSION} 
     DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
   install(DIRECTORY ${CMAKE_BINARY_DIR}/include/ceres/ 
     DESTINATION ${CMAKE_INSTALL_PREFIX}/include/ceres/)
@@ -230,13 +240,13 @@ ExternalProject_Add(opengv_external
     BUILD_COMMAND make -j${N_CORES}
     INSTALL_COMMAND make install
 )
-add_library(opengv STATIC IMPORTED)
+add_library(opengv SHARED IMPORTED)
 set(OpenGV_LIBRARIES opengv)
-set_target_properties(opengv PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/libopengv.a)
+set_target_properties(opengv PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/lib/libopengv.so)
 add_dependencies(${OpenGV_LIBRARIES} opengv_external)
 
 # install it once built
-install(FILES ${CMAKE_BINARY_DIR}/lib/libopengv.a 
+install(FILES ${CMAKE_BINARY_DIR}/lib/libopengv.so 
   DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
 install(DIRECTORY ${CMAKE_BINARY_DIR}/include/opengv/ 
   DESTINATION ${CMAKE_INSTALL_PREFIX}/include/opengv/)
@@ -315,6 +325,7 @@ add_dependencies(okvis_multisensor_processing okvis_util)
 # also build the apps
 if(BUILD_APPS)
   FIND_PACKAGE(Boost COMPONENTS filesystem system REQUIRED)
+FIND_PACKAGE(OpenCV COMPONENTS REQUIRED)
   include_directories(${Boost_INCLUDE_DIRS}) 
   add_executable(okvis_app_synchronous okvis_apps/src/okvis_app_synchronous.cpp)
   target_link_libraries(okvis_app_synchronous 
@@ -330,6 +341,10 @@ if(BUILD_APPS)
     okvis_multisensor_processing
     pthread 
     ${Boost_LIBRARIES}
+${CERES_LIBRARIES}
+${OpenGV_LIBRARIES}
+${OpenCV_LIBRARIES}
+
   )
   if(${VISENSORDRIVER_FOUND})
     target_link_libraries(okvis_app_synchronous ${VISensorDriver_LIBRARY})
diff --git a/cmake/brisk/CMakeLists.txt b/cmake/brisk/CMakeLists.txt
new file mode 100755
index 0000000..4349a4f
--- /dev/null
+++ b/cmake/brisk/CMakeLists.txt
@@ -0,0 +1,161 @@
+cmake_minimum_required(VERSION 2.8.11)
+include(CheckIncludeFiles)
+
+project(brisk)
+# The version number.
+set(BRISK_MAJOR_VERSION 2)
+set(BRISK_MINOR_VERSION 0)
+set(BRISK_PATCH_VERSION 2)
+set(BRISK_VERSION
+  ${BRISK_MAJOR_VERSION}.${BRISK_MINOR_VERSION}.${BRISK_PATCH_VERSION})
+
+# Offer the user the choice of overriding the installation directories
+set(INSTALL_LIB_DIR lib CACHE PATH "Installation directory for libraries")
+set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
+set(INSTALL_INCLUDE_DIR include CACHE PATH
+  "Installation directory for header files")
+if(WIN32 AND NOT CYGWIN)
+  set(DEF_INSTALL_CMAKE_DIR CMake)
+else()
+  set(DEF_INSTALL_CMAKE_DIR lib/CMake/brisk)
+endif()
+set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
+  "Installation directory for CMake files")
+
+# Make relative paths absolute (needed later on)
+foreach(p LIB BIN INCLUDE CMAKE)
+  set(var INSTALL_${p}_DIR)
+  if(NOT IS_ABSOLUTE "${${var}}")
+    set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
+  endif()
+endforeach()
+
+# make sure we use Release and warn otherwise
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to 'Release' as none was specified.")
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release"
+    "MinSizeRel" "RelWithDebInfo")
+endif()
+if (NOT "${CMAKE_BUILD_TYPE}" STREQUAL "Release")
+  message(WARNING "CMAKE_BUILD_TYPE not set to 'Release'. Performance may be terrible.")
+else()
+  message(STATUS "Building with build type '${CMAKE_BUILD_TYPE}'")
+endif()
+
+# require OpenCV
+find_package( OpenCV REQUIRED )
+include_directories(BEFORE ${OpenCV_INCLUDE_DIRS}) 
+
+if(${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "arm*")
+  message(STATUS "ARM processor detected, will attempt to use NEON.")
+  add_definitions(-mfpu=neon -DHAVE_OPENCV -Wall -pedantic -std=c++0x -fPIC)
+else()
+  message(STATUS "Assuming SSE instructions available.")
+  add_definitions(-mssse3 -DHAVE_OPENCV -Wall -pedantic -std=c++0x -fPIC)
+endif()
+
+# set up the output tree
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+
+# check include file safely
+get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
+foreach(dir ${dirs})
+  if(EXISTS "${dir}/opencv2/nonfree/nonfree.hpp")
+    set(HAVE_OPENCV_NONFREE_H TRUE)
+    #message(STATUS "Found ${dir}/opencv2/nonfree/nonfree.hpp, setting HAVE_OPENCV_NONFREE_H=TRUE")
+  endif()
+endforeach()
+if(${OpenCV_VERSION_MAJOR} STREQUAL 3)
+  message(WARNING "Nonfree module disabled, demo application with limited functionality")
+endif()
+
+if(NOT APPLE)
+  # The clang compiler (on osx) is somehow much more strict
+  # than the compilers on ubuntu and so this does not seem
+  # possible on OSX just yet.
+  add_definitions( -Werror )
+endif()
+
+# the absolute path to the demo images
+set(BRISK_IMAGE_PATH \"${PROJECT_SOURCE_DIR}/images\")
+add_definitions(-DBRISK_IMAGE_PATH=${BRISK_IMAGE_PATH})
+
+# build agast
+include_directories(agast/include)
+include_directories(include)
+add_subdirectory(agast)
+
+# build brisk
+add_library(${PROJECT_NAME} SHARED
+                            src/brisk-descriptor-extractor.cc
+                            src/brisk-feature-detector.cc   
+                            src/brisk-layer.cc
+                            src/brisk-scale-space.cc
+                            src/brute-force-matcher.cc   
+                            src/harris-feature-detector.cc
+                            src/harris-score-calculator.cc
+                            src/harris-score-calculator-float.cc
+                            src/harris-scores.cc
+                            src/image-down-sampling.cc
+                            src/pattern-provider.cc
+                            src/vectorized-filters.cc)  
+
+# and link it                   
+target_link_libraries(${PROJECT_NAME} PUBLIC ${OpenCV_LIBS} agast)
+
+if(HAVE_OPENCV_NONFREE_H)
+  # build the nonfree demo version
+  add_executable(demo src/demo.cc)
+  target_link_libraries(demo ${PROJECT_NAME})
+else()
+  # build the free demo version
+  add_executable(demo src/demo-free.cc)
+  target_link_libraries(demo ${PROJECT_NAME})
+endif()
+
+# installation if required
+install(TARGETS ${PROJECT_NAME} EXPORT briskTargets ARCHIVE DESTINATION ${INSTALL_LIB_DIR} LIBRARY DESTINATION ${INSTALL_LIB_DIR})
+install(TARGETS demo EXPORT briskTargets DESTINATION ${INSTALL_BIN_DIR})
+install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.h")
+
+# installation is invoked in the individual modules...
+export (TARGETS 
+    brisk
+    agast
+    demo
+    FILE "${PROJECT_BINARY_DIR}/briskTargets.cmake")
+export ( PACKAGE brisk )
+
+# Create the briskConfig.cmake and briskConfigVersion files
+file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}"
+   "${INSTALL_INCLUDE_DIR}")
+# ... for the build tree
+set(CONF_INCLUDE_DIRS 
+  "${PROJECT_SOURCE_DIR}/include"
+  "${PROJECT_SOURCE_DIR}/agast/include"
+  "${PROJECT_BINARY_DIR}"
+)
+configure_file(cmake/briskConfig.cmake.in
+  "${PROJECT_BINARY_DIR}/briskConfig.cmake" @ONLY)
+# ... for the install tree
+set(CONF_INCLUDE_DIRS "\${BRISK_CMAKE_DIR}/${REL_INCLUDE_DIR}")
+configure_file(cmake/briskConfig.cmake.in
+  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/briskConfig.cmake" @ONLY)
+# ... for both
+configure_file(cmake/briskConfigVersion.cmake.in
+  "${PROJECT_BINARY_DIR}/briskConfigVersion.cmake" @ONLY)
+ 
+# Install the briskConfig.cmake and briskConfigVersion.cmake
+install(FILES
+  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/briskConfig.cmake"
+  "${PROJECT_BINARY_DIR}/briskConfigVersion.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}")
+ 
+# Install the export set for use with the install-tree
+install(EXPORT briskTargets DESTINATION
+  "${INSTALL_CMAKE_DIR}")
+
diff --git a/cmake/brisk/agast/CMakeLists.txt b/cmake/brisk/agast/CMakeLists.txt
new file mode 100755
index 0000000..3df111d
--- /dev/null
+++ b/cmake/brisk/agast/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 2.8.11)
+
+project(agast)
+
+if(NOT DEFINED CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+# require OpenCV
+find_package( OpenCV REQUIRED )
+include_directories(${OpenCV_INCLUDE_DIRS}) 
+
+if(APPLE)
+  add_definitions(-Wall -pedantic -DHAVE_OPENCV -DAGAST_GLOG -std=c++11)
+else()
+  add_definitions(-Wall -Werror -pedantic -DHAVE_OPENCV -DAGAST_GLOG -std=c++0x)
+endif()
+
+# build the agast library
+add_library(${PROJECT_NAME} SHARED
+	src/agast5-8.cc  
+	src/agast5-8-nms.cc  
+	src/agast7-12d.cc  
+	src/agast7-12d-nms.cc  
+	src/agast7-12s.cc  
+	src/agast7-12s-nms.cc  
+	src/ast-detector.cc  
+	src/non-maximum-suppression.cc  
+	src/oast9-16.cc  
+	src/oast9-16-nms.cc)
+
+# and link it                     
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
+
+# installation if required
+install(TARGETS ${PROJECT_NAME} EXPORT briskTargets ARCHIVE DESTINATION ${INSTALL_LIB_DIR} LIBRARY DESTINATION ${INSTALL_LIB_DIR})
+install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.h")
diff --git a/cmake/opengv/CMakeLists.txt b/cmake/opengv/CMakeLists.txt
index 907aa31..70db13c 100644
--- a/cmake/opengv/CMakeLists.txt
+++ b/cmake/opengv/CMakeLists.txt
@@ -42,7 +42,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-add_definitions (-Wall -march=native -O3) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
+add_definitions (-Wall -O3) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
 
 # get eigen (and boost under windows)
 IF(WIN32)
@@ -184,9 +184,9 @@ IF(WIN32)
        test/time_measurement.hpp )
   endif()
 ELSE()
-  add_library( opengv STATIC ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
+  add_library( opengv SHARED ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
   if(DEFINED BUILD_TESTS)
-    add_library( random_generators STATIC 
+    add_library( random_generators SHARED 
       test/random_generators.cpp 
       test/random_generators.hpp 
       test/experiment_helpers.cpp 
@@ -252,6 +252,7 @@ endif()
 install(TARGETS opengv
   EXPORT opengvTargets 
   ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
 
diff --git a/okvis_ceres/CMakeLists.txt b/okvis_ceres/CMakeLists.txt
index 5519c95..d4e9547 100644
--- a/okvis_ceres/CMakeLists.txt
+++ b/okvis_ceres/CMakeLists.txt
@@ -38,7 +38,7 @@ target_link_libraries(${PROJECT_NAME}
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
 
diff --git a/okvis_common/CMakeLists.txt b/okvis_common/CMakeLists.txt
index a02de0a..97d063b 100644
--- a/okvis_common/CMakeLists.txt
+++ b/okvis_common/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package( Eigen REQUIRED )
 include_directories(${EIGEN_INCLUDE_DIR}) 
 
 # build the library
-add_library(${PROJECT_NAME} STATIC 
+add_library(${PROJECT_NAME} 
   src/VioInterface.cpp
   src/VioParametersReader.cpp
   include/okvis/FrameTypedefs.hpp
@@ -34,6 +34,6 @@ target_link_libraries(${PROJECT_NAME}
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
diff --git a/okvis_cv/CMakeLists.txt b/okvis_cv/CMakeLists.txt
index 4278bbd..9a2a916 100644
--- a/okvis_cv/CMakeLists.txt
+++ b/okvis_cv/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package( OpenCV COMPONENTS core highgui imgproc features2d REQUIRED )
 include_directories(BEFORE ${OpenCV_INCLUDE_DIRS}) 
 
 # build the library
-add_library(${PROJECT_NAME} STATIC 
+add_library(${PROJECT_NAME} 
   src/CameraBase.cpp
   src/NCameraSystem.cpp
 )
@@ -28,7 +28,7 @@ target_link_libraries(${PROJECT_NAME}
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
 
diff --git a/okvis_frontend/CMakeLists.txt b/okvis_frontend/CMakeLists.txt
index f768cf0..d90d143 100644
--- a/okvis_frontend/CMakeLists.txt
+++ b/okvis_frontend/CMakeLists.txt
@@ -42,6 +42,6 @@ target_link_libraries(${PROJECT_NAME}
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
diff --git a/okvis_kinematics/CMakeLists.txt b/okvis_kinematics/CMakeLists.txt
index 0f87e16..a7f3733 100644
--- a/okvis_kinematics/CMakeLists.txt
+++ b/okvis_kinematics/CMakeLists.txt
@@ -7,7 +7,7 @@ find_package( Eigen REQUIRED )
 include_directories(${EIGEN_INCLUDE_DIR}) 
 
 # build the library
-add_library(${PROJECT_NAME} STATIC src/dependency-tracker.cc)
+add_library(${PROJECT_NAME} src/dependency-tracker.cc)
 
 # and link it                     
 target_link_libraries(${PROJECT_NAME} 
@@ -17,7 +17,7 @@ target_link_libraries(${PROJECT_NAME}
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
 
diff --git a/okvis_matcher/CMakeLists.txt b/okvis_matcher/CMakeLists.txt
index ee7af38..6a5c353 100644
--- a/okvis_matcher/CMakeLists.txt
+++ b/okvis_matcher/CMakeLists.txt
@@ -19,7 +19,7 @@ target_link_libraries(${PROJECT_NAME}
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
   PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/okvis" COMPONENT dev
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
diff --git a/okvis_multisensor_processing/CMakeLists.txt b/okvis_multisensor_processing/CMakeLists.txt
index ab131c2..969c187 100644
--- a/okvis_multisensor_processing/CMakeLists.txt
+++ b/okvis_multisensor_processing/CMakeLists.txt
@@ -50,7 +50,7 @@ set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER ${CMAKE_CURRENT_B
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
   PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/okvis" COMPONENT dev
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
diff --git a/okvis_time/CMakeLists.txt b/okvis_time/CMakeLists.txt
index 0f6fded..99affda 100644
--- a/okvis_time/CMakeLists.txt
+++ b/okvis_time/CMakeLists.txt
@@ -15,6 +15,6 @@ add_library(${PROJECT_NAME}
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
diff --git a/okvis_timing/CMakeLists.txt b/okvis_timing/CMakeLists.txt
index 186d430..911fe12 100644
--- a/okvis_timing/CMakeLists.txt
+++ b/okvis_timing/CMakeLists.txt
@@ -11,6 +11,6 @@ target_link_libraries(${PROJECT_NAME} PUBLIC okvis_util)
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")
diff --git a/okvis_util/CMakeLists.txt b/okvis_util/CMakeLists.txt
index 3f2f1ba..c93e1d2 100644
--- a/okvis_util/CMakeLists.txt
+++ b/okvis_util/CMakeLists.txt
@@ -2,12 +2,12 @@ cmake_minimum_required(VERSION 2.8.11)
 project(okvis_util)
 
 # nothing to build for now...
-add_library(${PROJECT_NAME} STATIC src/dependency-tracker.cc)
+add_library(${PROJECT_NAME} src/dependency-tracker.cc)
 
 # installation if required
 install(TARGETS ${PROJECT_NAME}
   EXPORT okvisTargets 
-  ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
+  LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
   PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/okvis" COMPONENT dev
 )
 install(DIRECTORY include/ DESTINATION ${INSTALL_INCLUDE_DIR} COMPONENT dev FILES_MATCHING PATTERN "*.hpp")