diff --git a/libpointmatcher/Makefile b/libpointmatcher/Makefile
index 14e6423f8a9c8371ecd28e818c9f54ed1443a38c..f88cd1b3932ab40eb1e9365008a25656b9c5ca9c 100644
--- a/libpointmatcher/Makefile
+++ b/libpointmatcher/Makefile
@@ -16,9 +16,16 @@ COMMENT=		An "Iterative Closest Point" library for 2-D/3-D mapping in robotic
 LICENSE=		2-clause-bsd
 
 CMAKE_ARGS+=		-DSHARED_LIBS=ON
+CMAKE_ARGS+=		-DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+=		-DBOOST_LIBDIR=${PREFIX.boost-libs}/include
+CMAKE_ARGS+=		-DEIGEN_INCLUDE_DIR=${PREFIX.eigen3}/include/eigen3
+
+DYNAMIC_PLIST_DIRS+=	share/doc/${PKGBASE}
 
 include ../../wip/libnabo/depend.mk
 include ../../math/eigen3/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
 include ../../devel/yaml-cpp/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../mk/sysdep/cmake.mk
diff --git a/libpointmatcher/PLIST b/libpointmatcher/PLIST
index d26202c0d93c1db78d912be3607dc14dfcbc5695..789dbd79dcc6e7d35d6a7b7f970da2da9a6f48da 100644
--- a/libpointmatcher/PLIST
+++ b/libpointmatcher/PLIST
@@ -1,4 +1,4 @@
-@comment Thu Mar 27 11:23:01 CET 2014
+@comment Thu Mar 27 14:41:15 CET 2014
 bin/pmicp
 include/pointmatcher/IO.h
 include/pointmatcher/Parametrizable.h
@@ -9,158 +9,3 @@ include/pointmatcher/Timer.h
 lib/libpointmatcher.so
 lib/libpointmatcher.so.1
 lib/libpointmatcher.so.${PKGVERSION}
-share/doc/libpointmatcher/README.md
-share/doc/libpointmatcher/api/html/IO_8h_source.html
-share/doc/libpointmatcher/api/html/Parametrizable_8h_source.html
-share/doc/libpointmatcher/api/html/PointMatcher_8h.html
-share/doc/libpointmatcher/api/html/PointMatcher_8h_source.html
-share/doc/libpointmatcher/api/html/Registrar_8h_source.html
-share/doc/libpointmatcher/api/html/annotated.html
-share/doc/libpointmatcher/api/html/bc_s.png
-share/doc/libpointmatcher/api/html/classes.html
-share/doc/libpointmatcher/api/html/closed.png
-share/doc/libpointmatcher/api/html/doxygen.css
-share/doc/libpointmatcher/api/html/doxygen.png
-share/doc/libpointmatcher/api/html/files.html
-share/doc/libpointmatcher/api/html/form_0.png
-share/doc/libpointmatcher/api/html/form_1.png
-share/doc/libpointmatcher/api/html/form_2.png
-share/doc/libpointmatcher/api/html/formula.repository
-share/doc/libpointmatcher/api/html/functions.html
-share/doc/libpointmatcher/api/html/functions_0x62.html
-share/doc/libpointmatcher/api/html/functions_0x63.html
-share/doc/libpointmatcher/api/html/functions_0x64.html
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-share/doc/libpointmatcher/api/html/functions_0x67.html
-share/doc/libpointmatcher/api/html/functions_0x68.html
-share/doc/libpointmatcher/api/html/functions_0x69.html
-share/doc/libpointmatcher/api/html/functions_0x6c.html
-share/doc/libpointmatcher/api/html/functions_0x6d.html
-share/doc/libpointmatcher/api/html/functions_0x6e.html
-share/doc/libpointmatcher/api/html/functions_0x6f.html
-share/doc/libpointmatcher/api/html/functions_0x70.html
-share/doc/libpointmatcher/api/html/functions_0x71.html
-share/doc/libpointmatcher/api/html/functions_0x72.html
-share/doc/libpointmatcher/api/html/functions_0x73.html
-share/doc/libpointmatcher/api/html/functions_0x74.html
-share/doc/libpointmatcher/api/html/functions_0x76.html
-share/doc/libpointmatcher/api/html/functions_0x77.html
-share/doc/libpointmatcher/api/html/functions_0x7e.html
-share/doc/libpointmatcher/api/html/functions_func.html
-share/doc/libpointmatcher/api/html/functions_rela.html
-share/doc/libpointmatcher/api/html/functions_type.html
-share/doc/libpointmatcher/api/html/functions_vars.html
-share/doc/libpointmatcher/api/html/globals.html
-share/doc/libpointmatcher/api/html/globals_defs.html
-share/doc/libpointmatcher/api/html/hierarchy.html
-share/doc/libpointmatcher/api/html/index.html
-share/doc/libpointmatcher/api/html/namespacePointMatcherSupport.html
-share/doc/libpointmatcher/api/html/namespacemembers.html
-share/doc/libpointmatcher/api/html/namespacemembers_func.html
-share/doc/libpointmatcher/api/html/namespacemembers_type.html
-share/doc/libpointmatcher/api/html/namespacemembers_vars.html
-share/doc/libpointmatcher/api/html/namespaces.html
-share/doc/libpointmatcher/api/html/nav_f.png
-share/doc/libpointmatcher/api/html/nav_h.png
-share/doc/libpointmatcher/api/html/open.png
-share/doc/libpointmatcher/api/html/pages.html
-share/doc/libpointmatcher/api/html/structPointMatcher-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher.html
-share/doc/libpointmatcher/api/html/structPointMatcherIO-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherIO.html
-share/doc/libpointmatcher/api/html/structPointMatcherIO_1_1FileInfo-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherIO_1_1FileInfo.html
-share/doc/libpointmatcher/api/html/structPointMatcherIO_1_1FileInfoVector-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherIO_1_1FileInfoVector.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1InvalidElement-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1InvalidElement.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1InvalidModuleType-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1InvalidModuleType.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Logger-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Logger.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Logger.png
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Parametrizable-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Parametrizable.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Parametrizable.png
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Parametrizable_1_1InvalidParameter-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Parametrizable_1_1InvalidParameter.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Parametrizable_1_1ParameterDoc-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Parametrizable_1_1ParameterDoc.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1ClassDescriptor-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1ClassDescriptor.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1ClassDescriptor.png
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1GenericClassDescriptor-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1GenericClassDescriptor.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1GenericClassDescriptor.png
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1GenericClassDescriptorNoParam-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1GenericClassDescriptorNoParam.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1Registrar_1_1GenericClassDescriptorNoParam.png
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1SharedPtrVector-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1SharedPtrVector.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1TransformationError-members.html
-share/doc/libpointmatcher/api/html/structPointMatcherSupport_1_1TransformationError.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ConvergenceError-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ConvergenceError.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPointsFilter-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPointsFilter.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPointsFilter.png
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPointsFilters-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPointsFilters.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPointsFilters.png
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints_1_1InvalidField-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints_1_1InvalidField.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints_1_1Label-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints_1_1Label.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints_1_1Labels-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1DataPoints_1_1Labels.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ErrorMinimizer-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ErrorMinimizer.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ErrorMinimizer.png
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ErrorMinimizer_1_1ErrorElements-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ErrorMinimizer_1_1ErrorElements.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ICP-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ICP.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ICP.png
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ICPChainBase-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ICPChainBase.html
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-share/doc/libpointmatcher/api/html/structPointMatcher_1_1ICPSequence.html
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-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Inspector-members.html
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-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Inspector.png
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Matcher-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Matcher.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Matcher.png
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Matches-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Matches.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1OutlierFilter-members.html
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-share/doc/libpointmatcher/api/html/structPointMatcher_1_1OutlierFilters-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1OutlierFilters.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1OutlierFilters.png
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Transformation-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Transformation.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Transformation.png
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-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Transformations-members.html
-share/doc/libpointmatcher/api/html/structPointMatcher_1_1Transformations.html
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-share/doc/libpointmatcher/api/html/tabs.css
-share/doc/libpointmatcher/api/html/todo.html