diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index bfcc82ec..27345178 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -4,9 +4,9 @@ ADD_SUBDIRECTORY( ImagesJoiner )
 ADD_SUBDIRECTORY( ImagesDbExtractor )
 ADD_SUBDIRECTORY( VocabularyComparison )
 
-IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
+IF(TARGET rtabmap_guilib)
 	ADD_SUBDIRECTORY( DatabaseViewer )
 	ADD_SUBDIRECTORY( EpipolarGeometry )
 ELSE()
-   MESSAGE(STATUS "[WARNING] Qt4 not found, the databaseViewer and epipolarGeometry programs will not be built...")
+   MESSAGE(STATUS "RTAB-Map GUI lib is not built, the databaseViewer and epipolarGeometry programs will not be built...")
 ENDIF()
\ No newline at end of file
diff --git a/tools/DatabaseViewer/CMakeLists.txt b/tools/DatabaseViewer/CMakeLists.txt
index fe1d1d14..3b1a70a0 100644
--- a/tools/DatabaseViewer/CMakeLists.txt
+++ b/tools/DatabaseViewer/CMakeLists.txt
@@ -1,36 +1,33 @@
-
-
-SET(SRC_FILES 
-	./main.cpp
-)
-
-SET(INCLUDE_DIRS
-	${PROJECT_SOURCE_DIR}/corelib/include
-	${PROJECT_SOURCE_DIR}/guilib/include
-	${UTILITE_INCLUDE_DIRS}
-	${OpenCV_INCLUDE_DIRS}
-)
-
-INCLUDE(${QT_USE_FILE})
-
-SET(LIBRARIES
-    ${UTILITE_LIBRARIES}
-    ${QT_LIBRARIES} 
-	${OpenCV_LIBRARIES} 
-)
-
-#include files
-INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
-
-# Add binary called "databaseViewer" that is built from the source file "main.cpp".
-# The extension is automatically found.
-ADD_EXECUTABLE(databaseViewer WIN32 ${SRC_FILES})
-TARGET_LINK_LIBRARIES(databaseViewer rtabmap_corelib rtabmap_guilib ${LIBRARIES})
-
-SET_TARGET_PROPERTIES( databaseViewer 
-  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer)
-
-INSTALL(TARGETS databaseViewer
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
\ No newline at end of file
+
+SET(SRC_FILES
+    main.cpp
+)
+
+SET(INCLUDE_DIRS
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/guilib/include
+    ${UTILITE_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+INCLUDE(${QT_USE_FILE})
+
+SET(LIBRARIES
+    ${UTILITE_LIBRARIES}
+	${OpenCV_LIBRARIES}
+	${QT_LIBRARIES} 
+)
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(databaseViewer WIN32 ${SRC_FILES})
+TARGET_LINK_LIBRARIES(databaseViewer rtabmap_corelib rtabmap_guilib ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( databaseViewer 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer)
+
+INSTALL(TARGETS databaseViewer
+        RUNTIME DESTINATION bin COMPONENT runtime
+        LIBRARY DESTINATION lib COMPONENT devel
+        ARCHIVE DESTINATION lib COMPONENT devel)
+