diff --git a/maps_server/CMakeLists.txt b/maps_server/CMakeLists.txt
index 8534234..636cc99 100644
--- a/maps_server/CMakeLists.txt
+++ b/maps_server/CMakeLists.txt
@@ -29,5 +29,7 @@ add_subdirectory(src/apps)
 # misc utils
 add_subdirectory(src/utils)
 
+add_subdirectory(src/plane-seg)
+
 # Maps GTK renderer works as of Feb 2017
 # add_subdirectory(src/renderers)
diff --git a/plane-seg/src/plane-seg/BlockFitter.cpp b/maps_server/src/plane-seg/BlockFitter.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/BlockFitter.cpp
rename to maps_server/src/plane-seg/BlockFitter.cpp
diff --git a/plane-seg/src/plane-seg/BlockFitter.hpp b/maps_server/src/plane-seg/BlockFitter.hpp
similarity index 100%
rename from plane-seg/src/plane-seg/BlockFitter.hpp
rename to maps_server/src/plane-seg/BlockFitter.hpp
diff --git a/plane-seg/src/plane-seg/CMakeLists.txt b/maps_server/src/plane-seg/CMakeLists.txt
similarity index 100%
rename from plane-seg/src/plane-seg/CMakeLists.txt
rename to maps_server/src/plane-seg/CMakeLists.txt
diff --git a/plane-seg/src/plane-seg/IncrementalPlaneEstimator.cpp b/maps_server/src/plane-seg/IncrementalPlaneEstimator.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/IncrementalPlaneEstimator.cpp
rename to maps_server/src/plane-seg/IncrementalPlaneEstimator.cpp
diff --git a/plane-seg/src/plane-seg/IncrementalPlaneEstimator.hpp b/maps_server/src/plane-seg/IncrementalPlaneEstimator.hpp
similarity index 100%
rename from plane-seg/src/plane-seg/IncrementalPlaneEstimator.hpp
rename to maps_server/src/plane-seg/IncrementalPlaneEstimator.hpp
diff --git a/plane-seg/src/plane-seg/PlaneFitter.cpp b/maps_server/src/plane-seg/PlaneFitter.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/PlaneFitter.cpp
rename to maps_server/src/plane-seg/PlaneFitter.cpp
diff --git a/plane-seg/src/plane-seg/PlaneFitter.hpp b/maps_server/src/plane-seg/PlaneFitter.hpp
similarity index 100%
rename from plane-seg/src/plane-seg/PlaneFitter.hpp
rename to maps_server/src/plane-seg/PlaneFitter.hpp
diff --git a/plane-seg/src/plane-seg/PlaneSegmenter.cpp b/maps_server/src/plane-seg/PlaneSegmenter.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/PlaneSegmenter.cpp
rename to maps_server/src/plane-seg/PlaneSegmenter.cpp
diff --git a/plane-seg/src/plane-seg/PlaneSegmenter.hpp b/maps_server/src/plane-seg/PlaneSegmenter.hpp
similarity index 100%
rename from plane-seg/src/plane-seg/PlaneSegmenter.hpp
rename to maps_server/src/plane-seg/PlaneSegmenter.hpp
diff --git a/plane-seg/src/plane-seg/RectangleFitter.cpp b/maps_server/src/plane-seg/RectangleFitter.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/RectangleFitter.cpp
rename to maps_server/src/plane-seg/RectangleFitter.cpp
diff --git a/plane-seg/src/plane-seg/RectangleFitter.hpp b/maps_server/src/plane-seg/RectangleFitter.hpp
similarity index 100%
rename from plane-seg/src/plane-seg/RectangleFitter.hpp
rename to maps_server/src/plane-seg/RectangleFitter.hpp
diff --git a/plane-seg/src/plane-seg/RobustNormalEstimator.cpp b/maps_server/src/plane-seg/RobustNormalEstimator.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/RobustNormalEstimator.cpp
rename to maps_server/src/plane-seg/RobustNormalEstimator.cpp
diff --git a/plane-seg/src/plane-seg/RobustNormalEstimator.hpp b/maps_server/src/plane-seg/RobustNormalEstimator.hpp
similarity index 100%
rename from plane-seg/src/plane-seg/RobustNormalEstimator.hpp
rename to maps_server/src/plane-seg/RobustNormalEstimator.hpp
diff --git a/plane-seg/src/plane-seg/Types.hpp b/maps_server/src/plane-seg/Types.hpp
similarity index 100%
rename from plane-seg/src/plane-seg/Types.hpp
rename to maps_server/src/plane-seg/Types.hpp
diff --git a/plane-seg/src/plane-seg/block-fitter.cpp b/maps_server/src/plane-seg/block-fitter.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/block-fitter.cpp
rename to maps_server/src/plane-seg/block-fitter.cpp
diff --git a/plane-seg/find_sensor_position.m b/maps_server/src/plane-seg/find_sensor_position.m
similarity index 100%
rename from plane-seg/find_sensor_position.m
rename to maps_server/src/plane-seg/find_sensor_position.m
diff --git a/plane-seg/src/plane-seg/plane-seg-20150414.cpp b/maps_server/src/plane-seg/plane-seg-20150414.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/plane-seg-20150414.cpp
rename to maps_server/src/plane-seg/plane-seg-20150414.cpp
diff --git a/plane-seg/src/plane-seg/plane-seg-20150422.cpp b/maps_server/src/plane-seg/plane-seg-20150422.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/plane-seg-20150422.cpp
rename to maps_server/src/plane-seg/plane-seg-20150422.cpp
diff --git a/plane-seg/src/plane-seg/plane-seg-20150423.cpp b/maps_server/src/plane-seg/plane-seg-20150423.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/plane-seg-20150423.cpp
rename to maps_server/src/plane-seg/plane-seg-20150423.cpp
diff --git a/plane-seg/src/plane-seg/plane-seg-test.cpp b/maps_server/src/plane-seg/plane-seg-test.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/plane-seg-test.cpp
rename to maps_server/src/plane-seg/plane-seg-test.cpp
diff --git a/plane-seg/src/plane-seg/plane-seg-test2.cpp b/maps_server/src/plane-seg/plane-seg-test2.cpp
similarity index 100%
rename from plane-seg/src/plane-seg/plane-seg-test2.cpp
rename to maps_server/src/plane-seg/plane-seg-test2.cpp
diff --git a/plane-seg/test_plane_seg_01.m b/maps_server/src/plane-seg/test_plane_seg_01.m
similarity index 100%
rename from plane-seg/test_plane_seg_01.m
rename to maps_server/src/plane-seg/test_plane_seg_01.m
diff --git a/plane-seg/CMakeLists.txt b/plane-seg/CMakeLists.txt
deleted file mode 100644
index db9da28..0000000
--- a/plane-seg/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-cmake_minimum_required(VERSION 2.6.0)
-
-# pull in the pods macros. See cmake/pods.cmake for documentation
-set(POD_NAME plane-seg)
-include(cmake/pods.cmake)
-
-add_subdirectory(src/plane-seg)
-
-
diff --git a/plane-seg/Makefile b/plane-seg/Makefile
deleted file mode 100644
index ca6eb0a..0000000
--- a/plane-seg/Makefile
+++ /dev/null
@@ -1,49 +0,0 @@
-# Default makefile distributed with pods version: 12.01.11
-
-default_target: all
-
-# Default to a less-verbose build.  If you want all the gory compiler output,
-# run "make VERBOSE=1"
-$(VERBOSE).SILENT:
-
-# Figure out where to build the software.
-#   Use BUILD_PREFIX if it was passed in.
-#   If not, search up to four parent directories for a 'build' directory.
-#   Otherwise, use ./build.
-ifeq "$(BUILD_PREFIX)" ""
-BUILD_PREFIX:=$(shell for pfx in ./ .. ../.. ../../.. ../../../..; do d=`pwd`/$$pfx/build;\
-               if [ -d $$d ]; then echo $$d; exit 0; fi; done; echo `pwd`/build)
-endif
-# create the build directory if needed, and normalize its path name
-BUILD_PREFIX:=$(shell mkdir -p $(BUILD_PREFIX) && cd $(BUILD_PREFIX) && echo `pwd`)
-
-# Default to a release build.  If you want to enable debugging flags, run
-# "make BUILD_TYPE=Debug"
-ifeq "$(BUILD_TYPE)" ""
-BUILD_TYPE="Release"
-endif
-
-all: pod-build/Makefile
-	$(MAKE) -C pod-build all install
-
-pod-build/Makefile:
-	$(MAKE) configure
-
-.PHONY: configure
-configure:
-	@echo "\nBUILD_PREFIX: $(BUILD_PREFIX)\n\n"
-
-	# create the temporary build directory if needed
-	@mkdir -p pod-build
-
-	# run CMake to generate and configure the build scripts
-	@cd pod-build && cmake -DCMAKE_INSTALL_PREFIX=$(BUILD_PREFIX) \
-		   -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) ..
-
-clean:
-	-if [ -e pod-build/install_manifest.txt ]; then rm -f `cat pod-build/install_manifest.txt`; fi
-	-if [ -d pod-build ]; then $(MAKE) -C pod-build clean; rm -rf pod-build; fi
-
-# other (custom) targets are passed through to the cmake-generated Makefile 
-%::
-	$(MAKE) -C pod-build $@
\ No newline at end of file
diff --git a/plane-seg/README b/plane-seg/README
deleted file mode 100644
index b36ea93..0000000
--- a/plane-seg/README
+++ /dev/null
@@ -1,20 +0,0 @@
-This is a default README file, please replace its contents with information
-relevant to your project.
-
-This software is constructed according to the Pods software policies and
-templates.  The policies and templates can be found at:
-
-  http://sourceforge.net/projects/pods
-
-====
-
-Name:         sync-test
-Maintainers:  FILL-ME-IN
-Summary:      FILL-ME-IN
-Description:
-  FILL-ME-IN
-
-Requirements: 
-  FILL-ME-IN
-
-License:      FILL-ME-IN
diff --git a/plane-seg/cmake/pods.cmake b/plane-seg/cmake/pods.cmake
deleted file mode 100644
index f7aba84..0000000
--- a/plane-seg/cmake/pods.cmake
+++ /dev/null
@@ -1,408 +0,0 @@
-# Macros to simplify compliance with the pods build policies.
-#
-# To enable the macros, add the following lines to CMakeLists.txt:
-#   set(POD_NAME <pod-name>)
-#   include(cmake/pods.cmake)
-#
-# If POD_NAME is not set, then the CMake source directory is used as POD_NAME
-#
-# Next, any of the following macros can be used.  See the individual macro
-# definitions in this file for individual documentation.
-#
-# C/C++
-#   pods_install_headers(...)
-#   pods_install_libraries(...)
-#   pods_install_executables(...)
-#   pods_install_pkg_config_file(...)
-#
-#   pods_use_pkg_config_packages(...)
-#
-# Python
-#   pods_install_python_packages(...)
-#   pods_install_python_script(...)
-#
-# Java
-#   None yet
-#
-# ----
-# File: pods.cmake
-# Distributed with pods version: 12.01.11
-
-# pods_install_headers(<header1.h> ... DESTINATION <subdir_name>)
-# 
-# Install a (list) of header files.
-#
-# Header files will all be installed to include/<subdir_name>
-#
-# example:
-#   add_library(perception detector.h sensor.h)
-#   pods_install_headers(detector.h sensor.h DESTINATION perception)
-#
-function(pods_install_headers)
-    list(GET ARGV -2 checkword)
-    if(NOT checkword STREQUAL DESTINATION)
-        message(FATAL_ERROR "pods_install_headers missing DESTINATION parameter")
-    endif()
-
-    list(GET ARGV -1 dest_dir)
-    list(REMOVE_AT ARGV -1)
-    list(REMOVE_AT ARGV -1)
-    #copy the headers to the INCLUDE_OUTPUT_PATH (${CMAKE_BINARY_DIR}/include)
-    foreach(header ${ARGV})
-        get_filename_component(_header_name ${header} NAME)
-        configure_file(${header} ${INCLUDE_OUTPUT_PATH}/${dest_dir}/${_header_name} COPYONLY)
-	endforeach(header)
-	#mark them to be installed
-	install(FILES ${ARGV} DESTINATION include/${dest_dir})
-
-
-endfunction(pods_install_headers)
-
-# pods_install_executables(<executable1> ...)
-#
-# Install a (list) of executables to bin/
-function(pods_install_executables)
-    install(TARGETS ${ARGV} RUNTIME DESTINATION bin)
-endfunction(pods_install_executables)
-
-# pods_install_libraries(<library1> ...)
-#
-# Install a (list) of libraries to lib/
-function(pods_install_libraries)
-    install(TARGETS ${ARGV} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib)
-endfunction(pods_install_libraries)
-
-
-# pods_install_pkg_config_file(<package-name> 
-#                              [VERSION <version>]
-#                              [DESCRIPTION <description>]
-#                              [CFLAGS <cflag> ...]
-#                              [LIBS <lflag> ...]
-#                              [REQUIRES <required-package-name> ...])
-# 
-# Create and install a pkg-config .pc file.
-#
-# example:
-#    add_library(mylib mylib.c)
-#    pods_install_pkg_config_file(mylib LIBS -lmylib REQUIRES glib-2.0)
-function(pods_install_pkg_config_file)
-    list(GET ARGV 0 pc_name)
-    # TODO error check
-
-    set(pc_version 0.0.1)
-    set(pc_description ${pc_name})
-    set(pc_requires "")
-    set(pc_libs "")
-    set(pc_cflags "")
-    set(pc_fname "${PKG_CONFIG_OUTPUT_PATH}/${pc_name}.pc")
-    
-    set(modewords LIBS CFLAGS REQUIRES VERSION DESCRIPTION)
-    set(curmode "")
-
-    # parse function arguments and populate pkg-config parameters
-    list(REMOVE_AT ARGV 0)
-    foreach(word ${ARGV})
-        list(FIND modewords ${word} mode_index)
-        if(${mode_index} GREATER -1)
-            set(curmode ${word})
-        elseif(curmode STREQUAL LIBS)
-            set(pc_libs "${pc_libs} ${word}")
-        elseif(curmode STREQUAL CFLAGS)
-            set(pc_cflags "${pc_cflags} ${word}")
-        elseif(curmode STREQUAL REQUIRES)
-            set(pc_requires "${pc_requires} ${word}")
-        elseif(curmode STREQUAL VERSION)
-            set(pc_version ${word})
-            set(curmode "")
-        elseif(curmode STREQUAL DESCRIPTION)
-            set(pc_description "${word}")
-            set(curmode "")
-        else(${mode_index} GREATER -1)
-            message("WARNING incorrect use of pods_add_pkg_config (${word})")
-            break()
-        endif(${mode_index} GREATER -1)
-    endforeach(word)
-
-    # write the .pc file out
-    file(WRITE ${pc_fname}
-        "prefix=${CMAKE_INSTALL_PREFIX}\n"
-        "exec_prefix=\${prefix}\n"
-        "libdir=\${exec_prefix}/lib\n"
-        "includedir=\${prefix}/include\n"
-        "\n"
-        "Name: ${pc_name}\n"
-        "Description: ${pc_description}\n"
-        "Requires: ${pc_requires}\n"
-        "Version: ${pc_version}\n"
-        "Libs: -L\${libdir} ${pc_libs}\n"
-        "Cflags: -I\${includedir} ${pc_cflags}\n")
-
-    # mark the .pc file for installation to the lib/pkgconfig directory
-    install(FILES ${pc_fname} DESTINATION lib/pkgconfig)
-    
-endfunction(pods_install_pkg_config_file)
-
-
-# pods_install_python_script(<script_name> <python_module_or_file>)
-#
-# Create and install a script that invokes the python interpreter with a
-# specified python module or script.
-#
-# A launcher script will be installed to bin/<script_name>. The script simply
-# adds <install-prefix>/lib/pythonX.Y/dist-packages
-# and  <install-prefix>/lib/pythonX.Y/site-packages 
-# to the PYTHONPATH, and then 
-# invokes `python -m <python_module>` or `python python_file` 
-# depending on whether the function was passed a module name or script file.
-#
-# example:
-#    pods_install_python_script(run-py-module py_pkg.py_module)
-#    pods_install_python_script(run-py-script py_script.py)
-function(pods_install_python_script script_name python_module_or_file)
-    find_package(PythonInterp REQUIRED)
-
-    # which python version?
-    execute_process(COMMAND 
-        ${PYTHON_EXECUTABLE} -c "import sys; sys.stdout.write(sys.version[:3])"
-        OUTPUT_VARIABLE pyversion)
-
-    # where do we install .py files to?
-    set(python_install_dir 
-        ${CMAKE_INSTALL_PREFIX}/lib/python${pyversion}/dist-packages)
-    set(python_old_install_dir #todo: when do we get rid of this? 
-        ${CMAKE_INSTALL_PREFIX}/lib/python${pyversion}/site-packages)
-        
-    if (python_module_or_file MATCHES ".+\\.py") #ends with a .py
-        get_filename_component(py_file ${python_module_or_file} ABSOLUTE)     
-            
-        if (NOT EXISTS ${py_file})
-            message(FATAL_ERROR "${python_module_or_file} is not an absolute or relative path to a python script")
-        endif()
-        
-        #get the directory where we'll install the script ${sanitized_POD_NAME}_scripts
-        string(REGEX REPLACE "[^a-zA-Z0-9]" "_" __sanitized_pod_name "${POD_NAME}")
-        set(pods_scripts_dir "${python_install_dir}/${__sanitized_pod_name}_scripts")
-                
-        # install the python script file
-        install(FILES ${py_file}  DESTINATION "${pods_scripts_dir}")
-
-        get_filename_component(py_script_name ${py_file} NAME)
-        # write the bash script file
-        file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/${script_name} 
-            "#!/bin/sh\n"
-            "export PYTHONPATH=${python_install_dir}:${python_old_install_dir}:\${PYTHONPATH}\n"
-            "exec ${PYTHON_EXECUTABLE} ${pods_scripts_dir}/${py_script_name} $*\n")    
-    else()
-        get_filename_component(py_module ${python_module_or_file} NAME) #todo: check whether module exists?
-        # write the bash script file
-        file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/${script_name} 
-            "#!/bin/sh\n"
-            "export PYTHONPATH=${python_install_dir}:${python_old_install_dir}:\${PYTHONPATH}\n"
-            "exec ${PYTHON_EXECUTABLE} -m ${py_module} $*\n")
-    endif()
-    # install it...
-    install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/${script_name} DESTINATION bin)
-endfunction()
-
-# _pods_install_python_package(<py_src_dir> <py_module_name>)
-#
-# Internal helper function
-# Install python module in <py_src_dir> to lib/pythonX.Y/dist-packages/<py_module_name>,
-# where X.Y refers to the current python version (e.g., 2.6)
-#
-function(_pods_install_python_package py_src_dir py_module_name)
-    find_package(PythonInterp REQUIRED)
-    # which python version?
-    execute_process(COMMAND 
-        ${PYTHON_EXECUTABLE} -c "import sys; sys.stdout.write(sys.version[:3])"
-        OUTPUT_VARIABLE pyversion)
-
-    # where do we install .py files to?
-    set(python_install_dir 
-        ${CMAKE_INSTALL_PREFIX}/lib/python${pyversion}/dist-packages)
-
-    if(EXISTS "${py_src_dir}/__init__.py")
-        #install the single module
-        file(GLOB_RECURSE py_files   ${py_src_dir}/*.py)
-        foreach(py_file ${py_files})
-            file(RELATIVE_PATH __tmp_path ${py_src_dir} ${py_file})
-            get_filename_component(__tmp_dir ${__tmp_path} PATH)
-            install(FILES ${py_file}
-                DESTINATION "${python_install_dir}/${py_module_name}/${__tmp_dir}")
-        endforeach()
-    else()
-        message(FATAL_ERROR "${py_src_dir} is not a python package!\n")
-    endif()
-endfunction()
-
-
-# pods_install_python_packages(<src_dir1> ...)
-#
-# Install python packages to lib/pythonX.Y/dist-packages, where X.Y refers to
-# the current python version (e.g., 2.6)
-#
-# For each <src_dir> pass in, it will do the following:
-# If <src_dir> is a python package (it has a __init__.py file) it will be installed 
-# along with any .py files in subdirectories
-#
-# Otherwise the script searches for and installs any python packages in <src_dir>
-function(pods_install_python_packages py_src_dir)
-    get_filename_component(py_src_abs_dir ${py_src_dir} ABSOLUTE)
-    if(ARGC GREATER 1)
-        #install each module seperately 
-        foreach(py_module ${ARGV}) 
-            pods_install_python_packages(${py_module})
-        endforeach()
-    elseif(EXISTS "${py_src_abs_dir}/__init__.py")
-        #install the single module by name
-        get_filename_component(py_module_name ${py_src_abs_dir} NAME) 
-        _pods_install_python_package(${py_src_abs_dir} ${py_module_name})            
-    else()
-        # install any packages within the passed in py_src_dir 
-        set(_installed_a_package FALSE)
-        file(GLOB sub-dirs RELATIVE ${py_src_abs_dir} ${py_src_abs_dir}/*)
-        foreach(sub-dir ${sub-dirs})
-            if(EXISTS "${py_src_abs_dir}/${sub-dir}/__init__.py")
-                _pods_install_python_package(${py_src_abs_dir}/${sub-dir} ${sub-dir})
-                set(_installed_a_package TRUE)
-            endif()
-        endforeach()
-        if (NOT _installed_a_package)
-            message(FATAL_ERROR "${py_src_dir} does not contain any python packages!\n")
-        endif()
-    endif()
-endfunction()
-
-
-# pods_use_pkg_config_packages(<target> <package-name> ...)
-#
-# Convenience macro to get compiler and linker flags from pkg-config and apply them
-# to the specified target.
-#
-# Invokes `pkg-config --cflags-only-I <package-name> ...` and adds the result to the
-# include directories.
-#
-# Additionally, invokes `pkg-config --libs <package-name> ...` and adds the result to
-# the target's link flags (via target_link_libraries)
-#
-# example:
-#   add_executable(myprogram main.c)
-#   pods_use_pkg_config_packages(myprogram glib-2.0 opencv)
-macro(pods_use_pkg_config_packages target)
-    if(${ARGC} LESS 2)
-        message(WARNING "Useless invocation of pods_use_pkg_config_packages")
-        return()
-    endif()
-    find_package(PkgConfig REQUIRED)
-    execute_process(COMMAND 
-        ${PKG_CONFIG_EXECUTABLE} --cflags-only-I ${ARGN}
-        OUTPUT_VARIABLE _pods_pkg_include_flags)
-    string(STRIP ${_pods_pkg_include_flags} _pods_pkg_include_flags)
-    string(REPLACE "-I" "" _pods_pkg_include_flags "${_pods_pkg_include_flags}")
-	separate_arguments(_pods_pkg_include_flags)
-    #    message("include: ${_pods_pkg_include_flags}")
-    execute_process(COMMAND 
-        ${PKG_CONFIG_EXECUTABLE} --libs ${ARGN}
-        OUTPUT_VARIABLE _pods_pkg_ldflags)
-    string(STRIP ${_pods_pkg_ldflags} _pods_pkg_ldflags)
-    #    message("ldflags: ${_pods_pkg_ldflags}")
-    include_directories(${_pods_pkg_include_flags})
-    target_link_libraries(${target} ${_pods_pkg_ldflags})
-    
-    # make the target depend on libraries that are cmake targets
-    if (_pods_pkg_ldflags)
-        string(REPLACE " " ";" _split_ldflags ${_pods_pkg_ldflags})
-        foreach(lib ${_split_ldflags})
-                string(REGEX REPLACE "^-l" "" libname ${lib})
-                get_target_property(IS_TARGET ${libname} LOCATION)
-                if (NOT IS_TARGET STREQUAL "IS_TARGET-NOTFOUND")
-                    #message("---- ${target} depends on  ${libname}")
-                    add_dependencies(${target} ${libname})
-                endif() 
-        endforeach()
-    endif()
-
-    unset(_split_ldflags)
-    unset(_pods_pkg_include_flags)
-    unset(_pods_pkg_ldflags)
-endmacro()
-
-
-# pods_config_search_paths()
-#
-# Setup include, linker, and pkg-config paths according to the pods core
-# policy.  This macro is automatically invoked, there is no need to do so
-# manually.
-macro(pods_config_search_paths)
-    if(NOT DEFINED __pods_setup)
-		#set where files should be output locally
-	    set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
-	    set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
-	    set(INCLUDE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/include)
-	    set(PKG_CONFIG_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/pkgconfig)
-		
-		#set where files should be installed to
-	    set(LIBRARY_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib)
-	    set(EXECUTABLE_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/bin)
-	    set(INCLUDE_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/include)
-	    set(PKG_CONFIG_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig)
-
-
-        # add build/lib/pkgconfig to the pkg-config search path
-        set(ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_INSTALL_PATH}:$ENV{PKG_CONFIG_PATH})
-        set(ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_OUTPUT_PATH}:$ENV{PKG_CONFIG_PATH})
-
-        # add build/include to the compiler include path
-        include_directories(BEFORE ${INCLUDE_OUTPUT_PATH})
-        include_directories(${INCLUDE_INSTALL_PATH})
-
-        # add build/lib to the link path
-        link_directories(${LIBRARY_OUTPUT_PATH})
-        link_directories(${LIBRARY_INSTALL_PATH})
-        
-
-        # abuse RPATH
-        if(${CMAKE_INSTALL_RPATH})
-            set(CMAKE_INSTALL_RPATH ${LIBRARY_INSTALL_PATH}:${CMAKE_INSTALL_RPATH})
-        else(${CMAKE_INSTALL_RPATH})
-            set(CMAKE_INSTALL_RPATH ${LIBRARY_INSTALL_PATH})
-        endif(${CMAKE_INSTALL_RPATH})
-
-        # for osx, which uses "install name" path rather than rpath
-        #set(CMAKE_INSTALL_NAME_DIR ${LIBRARY_OUTPUT_PATH})
-        set(CMAKE_INSTALL_NAME_DIR ${CMAKE_INSTALL_RPATH})
-        
-        # hack to force cmake always create install and clean targets 
-        install(FILES DESTINATION)
-        add_custom_target(tmp)
-
-        set(__pods_setup true)
-    endif(NOT DEFINED __pods_setup)
-endmacro(pods_config_search_paths)
-
-macro(enforce_out_of_source)
-    if(CMAKE_BINARY_DIR STREQUAL PROJECT_SOURCE_DIR)
-      message(FATAL_ERROR 
-      "\n
-      Do not run cmake directly in the pod directory. 
-      use the supplied Makefile instead!  You now need to
-      remove CMakeCache.txt and the CMakeFiles directory.
-
-      Then to build, simply type: 
-       $ make
-      ")
-    endif()
-endmacro(enforce_out_of_source)
-
-#set the variable POD_NAME to the directory path, and set the cmake PROJECT_NAME
-if(NOT POD_NAME)
-    get_filename_component(POD_NAME ${CMAKE_SOURCE_DIR} NAME)
-    message(STATUS "POD_NAME is not set... Defaulting to directory name: ${POD_NAME}") 
-endif(NOT POD_NAME)
-project(${POD_NAME})
-
-#make sure we're running an out-of-source build
-enforce_out_of_source()
-
-#call the function to setup paths
-pods_config_search_paths()