diff --git a/CMakeLists.txt b/CMakeLists.txt
index b491d07..21f39af 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -141,7 +141,7 @@ if(WITH_CAM_MODELS)
   message(STATUS "EIGEN_INCLUDE_DIRS: ${EIGEN_INCLUDE_DIRS}")
 
   include_directories(
-    ${catkin_INCLUDE_DIRS}
+    ${CERES_INCLUDE_DIRS}
     ${EIGEN_INCLUDE_DIRS}
     src/mynteye/api/camodocal/include
   )
@@ -245,7 +245,7 @@ if(WITH_API)
   endif()
 endif()
 
-if(NOT WITH_GLOG)
+if(NOT WITH_GLOG AND NOT WITH_CAM_MODELS)
   list(APPEND MYNTEYE_SRCS src/mynteye/miniglog.cc)
 endif()
 
@@ -268,8 +268,7 @@ if(OS_MAC)
   target_link_libraries( ${MYNTEYE_NAME} ${OSX_EXTRA_LIBS} )
 endif()
 if(WITH_CAM_MODELS)
-# link_directories("./_output/lib")
-target_link_libraries(${MYNTEYE_NAME} "${OUT_DIR}/lib/libcamodocal.a")
+  target_link_libraries(${MYNTEYE_NAME} camodocal)
 endif()
 target_link_threads(${MYNTEYE_NAME})
 
@@ -333,6 +332,12 @@ if(NOT WITH_GLOG)
     DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}
   )
 endif()
+if(WITH_CAM_MODELS)
+  install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/ceres/include/ceres/internal/miniglog/glog/logging.h
+    DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/glog
+  )
+endif()
 
 install(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated/mynteye/callbacks.h
@@ -354,7 +359,12 @@ if(WITH_API)
   )
 endif()
 
-install(TARGETS ${MYNTEYE_NAME}
+set(__install_targets ${MYNTEYE_NAME})
+if(WITH_CAM_MODELS)
+  list(APPEND __install_targets camodocal)
+endif()
+
+install(TARGETS ${__install_targets}
   EXPORT ${MYNTEYE_NAME}-targets
   RUNTIME DESTINATION ${MYNTEYE_CMAKE_BINDIR}
   LIBRARY DESTINATION ${MYNTEYE_CMAKE_LIBDIR}
diff --git a/cmake/DetectGLog.cmake b/cmake/DetectGLog.cmake
deleted file mode 100644
index daf42d7..0000000
--- a/cmake/DetectGLog.cmake
+++ /dev/null
@@ -1,26 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
-cmake_include_guard()
-
-get_filename_component(__pro_dir ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)
-LIST(APPEND CMAKE_PREFIX_PATH ${__pro_dir}/third_party/glog/_build)
-
-find_package(glog REQUIRED)
-if(glog_FOUND)
-  add_definitions(-DWITH_GLOG)
-endif()
-
-unset(__pro_dir)
diff --git a/cmake/DetectOpenCV.cmake b/cmake/DetectOpenCV.cmake
index d166f50..ce15c40 100644
--- a/cmake/DetectOpenCV.cmake
+++ b/cmake/DetectOpenCV.cmake
@@ -26,14 +26,13 @@ if(OpenCV_FOUND)
 #message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
 
 set(WITH_OPENCV TRUE)
-add_definitions(-DWITH_OPENCV)
 
 if(OpenCV_VERSION VERSION_LESS 3.0)
-  add_definitions(-DWITH_OPENCV2)
+  set(WITH_OPENCV2 TRUE)
 elseif(OpenCV_VERSION VERSION_LESS 4.0)
-  add_definitions(-DWITH_OPENCV3)
+  set(WITH_OPENCV3 TRUE)
 else()
-  add_definitions(-DWITH_OPENCV4)
+  set(WITH_OPENCV4 TRUE)
 endif()
 
 list(FIND OpenCV_LIBS "opencv_world" __index)
diff --git a/cmake/Option.cmake b/cmake/Option.cmake
index cdbd897..7380672 100644
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@@ -42,22 +42,12 @@ else()
   set(WITH_CAM_MODELS OFF)
 endif()
 
-if(WITH_DEVICE_INFO_REQUIRED)
-  add_definitions(-DWITH_DEVICE_INFO_REQUIRED)
-endif()
-
-if(WITH_CAM_MODELS)
-  add_definitions(-DWITH_CAM_MODELS)
-endif()
-
 if(WITH_BOOST)
   find_package(Boost COMPONENTS filesystem)
   if(Boost_FOUND)
     set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
     set(WITH_FILESYSTEM TRUE)
     set(WITH_BOOST_FILESYSTEM TRUE)
-    add_definitions(-DWITH_FILESYSTEM)
-    add_definitions(-DWITH_BOOST_FILESYSTEM)
   endif()
 endif()
 
@@ -65,13 +55,11 @@ if(NOT WITH_FILESYSTEM)
   if(MSVC OR MSYS OR MINGW)  # win
     set(WITH_FILESYSTEM TRUE)
     set(WITH_NATIVE_FILESYSTEM TRUE)
-    add_definitions(-DWITH_FILESYSTEM)
-    add_definitions(-DWITH_NATIVE_FILESYSTEM)
   endif()
 endif()
 
 if(WITH_GLOG)
-  include(${CMAKE_CURRENT_LIST_DIR}/DetectGLog.cmake)
+  find_package(glog REQUIRED)
 endif()
 
 find_package(CUDA QUIET)
diff --git a/include/mynteye/logger.h b/include/mynteye/logger.h
index 83a7642..91b83fb 100644
--- a/include/mynteye/logger.h
+++ b/include/mynteye/logger.h
@@ -74,10 +74,23 @@ struct glog_init {
   }
 };
 
+#include "mynteye/mynteye.h"
+
+#ifdef WITH_CAM_MODELS
+
+#define MAX_LOG_LEVEL google::INFO
+
+// include ceres miniglog
+#include "glog/logging.h"
+
+#else
+
 #define MYNTEYE_MAX_LOG_LEVEL google::INFO
 
 #include "mynteye/miniglog.h"
 
 #endif
 
+#endif
+
 #endif  // MYNTEYE_LOGGER_H_
diff --git a/include/mynteye/mynteye.h.in b/include/mynteye/mynteye.h.in
index ee58cdf..bd2fafb 100644
--- a/include/mynteye/mynteye.h.in
+++ b/include/mynteye/mynteye.h.in
@@ -68,4 +68,19 @@ void UNUSED(T &&...) {}
 
 MYNTEYE_END_NAMESPACE
 
+#cmakedefine WITH_API
+#cmakedefine WITH_DEVICE_INFO_REQUIRED
+#cmakedefine WITH_CAM_MODELS
+
+#cmakedefine WITH_OPENCV
+#cmakedefine WITH_OPENCV2
+#cmakedefine WITH_OPENCV3
+#cmakedefine WITH_OPENCV4
+#cmakedefine WITH_OPENCV_WORLD
+
+#cmakedefine WITH_GLOG
+#cmakedefine WITH_FILESYSTEM
+#cmakedefine WITH_BOOST_FILESYSTEM
+#cmakedefine WITH_NATIVE_FILESYSTEM
+
 #endif  // MYNTEYE_MYNTEYE_H_
diff --git a/mynteye-config.cmake.in b/mynteye-config.cmake.in
index f9f666a..d064911 100644
--- a/mynteye-config.cmake.in
+++ b/mynteye-config.cmake.in
@@ -13,10 +13,9 @@
 # limitations under the License.
 
 @PACKAGE_INIT@
-set(mynteye_WITH_API @WITH_API@)
-set(mynteye_WITH_GLOG @WITH_GLOG@)
 
 set(mynteye_WITH_API @WITH_API@)
 set(mynteye_WITH_GLOG @WITH_GLOG@)
+set(mynteye_WITH_CAM_MODELS @WITH_CAM_MODELS@)
 
 include("${CMAKE_CURRENT_LIST_DIR}/mynteye-targets.cmake")
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index dc8129f..41ad760 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -83,13 +83,10 @@ if(NOT mynteye_WITH_API)
   message(FATAL_ERROR "Must with API layer :(")
 endif()
 
-include(cmake/DetectOpenCV.cmake)
+find_package(OpenCV REQUIRED)
 
 if(mynteye_WITH_GLOG)
   find_package(glog REQUIRED)
-  if(glog_FOUND)
-    add_definitions(-DWITH_GLOG)
-  endif()
 endif()
 
 # targets
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake
deleted file mode 100644
index 4a9ef81..0000000
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
-cmake_include_guard()
-
-find_package(OpenCV REQUIRED)
-
-message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
-
-set(WITH_OPENCV TRUE)
-add_definitions(-DWITH_OPENCV)
-
-if(OpenCV_VERSION VERSION_LESS 3.0)
-  add_definitions(-DWITH_OPENCV2)
-elseif(OpenCV_VERSION VERSION_LESS 4.0)
-  add_definitions(-DWITH_OPENCV3)
-else()
-  add_definitions(-DWITH_OPENCV4)
-endif()
-
-list(FIND OpenCV_LIBS "opencv_world" __index)
-if(${__index} GREATER -1)
-  set(WITH_OPENCV_WORLD TRUE)
-endif()
-
-if(MSVC OR MSYS OR MINGW)
-  get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)
-else()
-  set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
-endif()
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake
deleted file mode 100644
index 4c5dd68..0000000
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2018 Slightech Co., Ltd. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# include_guard: https://cmake.org/cmake/help/latest/command/include_guard.html
-
-macro(cmake_include_guard)
-  get_property(INCLUDE_GUARD GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}")
-  if(INCLUDE_GUARD)
-    return()
-  endif()
-  set_property(GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}" TRUE)
-endmacro()