diff --git a/.gitignore b/.gitignore
index e97b472..ec24250 100644
--- a/.gitignore
+++ b/.gitignore
@@ -342,4 +342,7 @@ ASALocalRun/
 healthchecksdb
 
 # Backup folder for Package Reference Convert tool in Visual Studio 2017
-MigrationBackup/
\ No newline at end of file
+MigrationBackup/
+
+# Specific to this report
+results/*
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..f8796d2
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,121 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(GraphCut_RANSAC LANGUAGES CXX)
+
+# indicate if OPENMP should be enabled
+option(USE_OPENMP "Use OPENMP" ON)
+
+# ==============================================================================
+# Check C++17 support
+# ==============================================================================
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# ==============================================================================
+# Find OpenCV
+# ==============================================================================
+find_package(OpenCV 3.3 REQUIRED)
+
+# ==============================================================================
+# Find OpenMP
+# ==============================================================================
+find_package(OpenMP)
+if (USE_OPENMP)
+	if(NOT OPENMP_FOUND)
+		message(FATAL_ERROR "OPENMP not found.")
+	endif()
+	add_definitions(-DUSE_OPENMP)
+	set(TRGT_LNK_LBS_ADDITIONAL OpenMP::OpenMP_CXX)
+endif (USE_OPENMP)
+
+# ==============================================================================
+# Includes
+# ==============================================================================
+include_directories (
+	${PROJECT_SOURCE_DIR}/include/GraphCut_RANSAC
+)
+
+# ==============================================================================
+# Structure: Library
+# ==============================================================================
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+
+# Set header files for the library
+file(GLOB_RECURSE HDRS_GCRANSAC
+	"include/GraphCut_RANSAC/*.h"
+	"include/GraphCut_RANSAC/*.cpp"
+) 
+
+# Set source files to be added to the library
+file(GLOB_RECURSE SRCS_GCRANSAC 
+	"src/GraphCut_RANSAC/*.cpp"
+)
+
+source_group(third_pary\\GCOptimization FILES
+	src/GraphCut_RANSAC/GCoptimization.cpp
+	include/GraphCut_RANSAC/graph.cpp
+	src/GraphCut_RANSAC/LinkedBlockList.cpp
+	include/GraphCut_RANSAC/maxflow.cpp
+	include/GraphCut_RANSAC/block.h
+	include/GraphCut_RANSAC/energy.h
+	include/GraphCut_RANSAC/GCoptimization.h
+	include/GraphCut_RANSAC/graph.h
+	include/GraphCut_RANSAC/LinkedBlockList.h
+)
+
+source_group(third_pary\\Theia FILES
+	include/GraphCut_RANSAC/prosac.h
+	include/GraphCut_RANSAC/prosac_sampler.h
+	include/GraphCut_RANSAC/quality_measurement.h
+	include/GraphCut_RANSAC/sample_consensus_estimator.h
+	include/GraphCut_RANSAC/sampler.h
+	include/GraphCut_RANSAC/inline_support.h
+	include/GraphCut_RANSAC/estimator.h
+)
+
+add_library(${PROJECT_NAME} STATIC
+	${HDRS_GCRANSAC}
+	${SRCS_GCRANSAC}
+)
+
+target_link_libraries(${PROJECT_NAME} 
+	${OpenCV_LIBS}
+)
+
+# ==============================================================================
+# Structure: Applications
+# ==============================================================================
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
+
+
+# five_point
+file(GLOB_RECURSE HDRSSRCS_FIVE_POINT 
+	"src/Sample_FundamentalEstimator/five_point/*.*"
+)
+source_group(third_pary\\five_point FILES
+	${HDRSSRCS_FIVE_POINT}
+)
+
+# estimators
+source_group("Estimators" FILES
+	src/Sample_FundamentalEstimator/essential_estimator.h
+	src/Sample_FundamentalEstimator/fundamental_estimator.h
+	src/Sample_FundamentalEstimator/homography_estimator.h
+	src/Sample_FundamentalEstimator/line_estimator.h
+)
+
+
+add_executable(Sample_FundamentalEstimator
+	${HDRSSRCS_FIVE_POINT}
+	src/Sample_FundamentalEstimator/essential_estimator.h
+	src/Sample_FundamentalEstimator/fundamental_estimator.h
+	src/Sample_FundamentalEstimator/homography_estimator.h
+	src/Sample_FundamentalEstimator/line_estimator.h
+	src/Sample_FundamentalEstimator/main.cpp)
+	
+target_link_libraries(Sample_FundamentalEstimator 
+	${OpenCV_LIBS}
+	${PROJECT_NAME}
+)
+add_dependencies(Sample_FundamentalEstimator ${PROJECT_NAME})
diff --git a/include/GraphCut_RANSAC/GCRANSAC.h b/include/GraphCut_RANSAC/GCRANSAC.h
index c8fc6f0..c626226 100644
--- a/include/GraphCut_RANSAC/GCRANSAC.h
+++ b/include/GraphCut_RANSAC/GCRANSAC.h
@@ -681,8 +681,10 @@ Score GCRANSAC<ModelEstimator, Model>::get_score(const cv::Mat &points_,
 
 	std::vector<Score> process_scores(process_number, { 0,0 });
 
-	concurrency::parallel_for(0, process_number, [&](int process)
-	{
+#ifdef USE_OPENMP
+#pragma omp for
+#endif
+  for (int process = 0; process < process_number; process++) {
 		if (store_inliers_)
 			process_inliers[process].reserve(step_size);
 		const int start_idx = process * step_size;
@@ -702,7 +704,7 @@ Score GCRANSAC<ModelEstimator, Model>::get_score(const cv::Mat &points_,
 				process_scores[process].J += 1.0f - distance * distance / truncated_threshold_2; // Truncated quadratic cost
 			}
 		}
-	});
+	}
 
 	for (auto i = 0; i < process_number; ++i)
 	{
diff --git a/include/GraphCut_RANSAC/estimator.h b/include/GraphCut_RANSAC/estimator.h
index 4edd463..0c6f04b 100644
--- a/include/GraphCut_RANSAC/estimator.h
+++ b/include/GraphCut_RANSAC/estimator.h
@@ -98,11 +98,13 @@ namespace theia
 			const Model& model) const 
 		{
 			std::vector<double> residuals(data.size());
-			concurrency::parallel_for(0, (int)data.size(), [&](int i)
-			//for (int i = 0; i < data.size(); i++) 
+#ifdef USE_OPENMP
+#pragma omp parallel for
+#endif
+			for (int i = 0; i < data.size(); i++) 
 			{
 				residuals[i] = Error(data[i], model);
-			});
+			}
 			return residuals;
 		}
 
diff --git a/include/GraphCut_RANSAC/prosac_sampler.h b/include/GraphCut_RANSAC/prosac_sampler.h
index c3ee416..01ab73a 100644
--- a/include/GraphCut_RANSAC/prosac_sampler.h
+++ b/include/GraphCut_RANSAC/prosac_sampler.h
@@ -42,7 +42,6 @@
 #include <vector>
 
 #include "sampler.h"
-#include "random.h"
 
 namespace theia
 {
diff --git a/src/Sample/essential_estimator.h b/src/Sample_FundamentalEstimator/essential_estimator.h
similarity index 99%
rename from src/Sample/essential_estimator.h
rename to src/Sample_FundamentalEstimator/essential_estimator.h
index 2f83c53..cc20722 100644
--- a/src/Sample/essential_estimator.h
+++ b/src/Sample_FundamentalEstimator/essential_estimator.h
@@ -1,12 +1,10 @@
-#include "stdafx.h"
-
 #include <iostream>
 #include <math.h>
 #include <chrono>
 #include <random>
 #include <vector>
 
-#include "5point.h"
+#include "five_point/5point.h"
 #include "estimator.h"
 #include "prosac.h"
 
diff --git a/src/Sample/five_point/5point.cpp b/src/Sample_FundamentalEstimator/five_point/5point.cpp
similarity index 100%
rename from src/Sample/five_point/5point.cpp
rename to src/Sample_FundamentalEstimator/five_point/5point.cpp
diff --git a/src/Sample/five_point/5point.h b/src/Sample_FundamentalEstimator/five_point/5point.h
similarity index 100%
rename from src/Sample/five_point/5point.h
rename to src/Sample_FundamentalEstimator/five_point/5point.h
diff --git a/src/Sample/five_point/Mblock.h b/src/Sample_FundamentalEstimator/five_point/Mblock.h
similarity index 100%
rename from src/Sample/five_point/Mblock.h
rename to src/Sample_FundamentalEstimator/five_point/Mblock.h
diff --git a/src/Sample/five_point/Polynomial.h b/src/Sample_FundamentalEstimator/five_point/Polynomial.h
similarity index 100%
rename from src/Sample/five_point/Polynomial.h
rename to src/Sample_FundamentalEstimator/five_point/Polynomial.h
diff --git a/src/Sample/five_point/Rpoly.cpp b/src/Sample_FundamentalEstimator/five_point/Rpoly.cpp
similarity index 100%
rename from src/Sample/five_point/Rpoly.cpp
rename to src/Sample_FundamentalEstimator/five_point/Rpoly.cpp
diff --git a/src/Sample/five_point/Rpoly.h b/src/Sample_FundamentalEstimator/five_point/Rpoly.h
similarity index 100%
rename from src/Sample/five_point/Rpoly.h
rename to src/Sample_FundamentalEstimator/five_point/Rpoly.h
diff --git a/src/Sample/fundamental_estimator.h b/src/Sample_FundamentalEstimator/fundamental_estimator.h
similarity index 99%
rename from src/Sample/fundamental_estimator.h
rename to src/Sample_FundamentalEstimator/fundamental_estimator.h
index ca16d63..1168588 100644
--- a/src/Sample/fundamental_estimator.h
+++ b/src/Sample_FundamentalEstimator/fundamental_estimator.h
@@ -1,5 +1,3 @@
-#include "stdafx.h"
-
 #include <iostream>
 #include <math.h>
 #include <chrono>
diff --git a/src/Sample/homography_estimator.h b/src/Sample_FundamentalEstimator/homography_estimator.h
similarity index 98%
rename from src/Sample/homography_estimator.h
rename to src/Sample_FundamentalEstimator/homography_estimator.h
index dd536c1..4de6f2a 100644
--- a/src/Sample/homography_estimator.h
+++ b/src/Sample_FundamentalEstimator/homography_estimator.h
@@ -1,8 +1,8 @@
-#include "stdafx.h"
-
 #include "estimator.h"
 #include "prosac.h"
 
+#include <opencv2/calib3d/calib3d.hpp>
+
 using namespace theia;
 
 struct Homography
diff --git a/src/Sample/line_estimator.h b/src/Sample_FundamentalEstimator/line_estimator.h
similarity index 99%
rename from src/Sample/line_estimator.h
rename to src/Sample_FundamentalEstimator/line_estimator.h
index 9b04761..1f6887c 100644
--- a/src/Sample/line_estimator.h
+++ b/src/Sample_FundamentalEstimator/line_estimator.h
@@ -1,5 +1,3 @@
-#include "stdafx.h"
-
 #include <iostream>
 #include <math.h>
 #include <chrono>
diff --git a/src/Sample/main.cpp b/src/Sample_FundamentalEstimator/main.cpp
similarity index 92%
rename from src/Sample/main.cpp
rename to src/Sample_FundamentalEstimator/main.cpp
index 9117522..52549ea 100644
--- a/src/Sample/main.cpp
+++ b/src/Sample_FundamentalEstimator/main.cpp
@@ -1,24 +1,24 @@
-// VisionFrameWork.cpp : Defines the entry point for the console application.
+// main.cpp : Defines the entry point for the console application.
 //
 
-#include "stdafx.h"
-
-#include <sstream>
+#include <algorithm>
 #include <fstream>
-#include <vector>
-#include <set>
-#include <opencv2\highgui\highgui.hpp>
-#include <opencv2\features2d.hpp>
-#include "opencv2/xfeatures2d.hpp"
 #include <functional>
-#include <algorithm>
+#include <set>
+#include <sstream>
+#include <vector>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/xfeatures2d.hpp>
+
 #include "GCRANSAC.h"
-#include <ppl.h>
 #include <ctime>
-#include "line_estimator.cpp"
-#include "essential_estimator.cpp"
-#include "fundamental_estimator.cpp"
-#include "homography_estimator.cpp"
+#include "line_estimator.h"
+#include "essential_estimator.h"
+#include "fundamental_estimator.h"
+#include "homography_estimator.h"
 
 #include <direct.h>
 #include <sys/types.h>
@@ -69,8 +69,10 @@ int main(int argc, const char* argv[])
 
 	std::string task = "head";
 
+  const std::string root_dir = "../";
+
 	// Create the task directory of doesn't exist
-	std::string dir = "results/" + task;
+  std::string dir = root_dir + "results/" + task;
 
 	if (stat(dir.c_str(), &info) != 0)
 		if (_mkdir(dir.c_str()) != 0)
@@ -79,11 +81,11 @@ int main(int argc, const char* argv[])
 			return -1;
 		}
 
-	std::string srcImagePath = "data/" + task + "/" + task + "1.jpg";
-	std::string dstImagePath = "data/" + task + "/" + task + "2.jpg";
-	std::string input_correspondence_path = "results/" + task + "/" + task + "_points_with_no_annotation.txt";
-	std::string output_correspondence_path = "results/" + task + "/result_" + task + ".txt";
-	std::string output_matchImagePath = "results/" + task + "/matches_" + task + ".png";
+	std::string srcImagePath = root_dir + "data/" + task + "/" + task + "1.jpg";
+	std::string dstImagePath = root_dir + "data/" + task + "/" + task + "2.jpg";
+	std::string input_correspondence_path =  root_dir + "results/" + task + "/" + task + "_points_with_no_annotation.txt";
+	std::string output_correspondence_path = root_dir + "results/" + task + "/result_" + task + ".txt";
+	std::string output_matchImagePath = root_dir + "results/" + task + "/matches_" + task + ".png";
 
 	const float confidence = 0.99f;
 	const int fps = -1;