diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 27345178..02f1d967 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -5,7 +5,7 @@ ADD_SUBDIRECTORY( ImagesDbExtractor )
 ADD_SUBDIRECTORY( VocabularyComparison )
 
 IF(TARGET rtabmap_guilib)
-	ADD_SUBDIRECTORY( DatabaseViewer )
+	ADD_SUBDIRECTORY( viewer )
 	ADD_SUBDIRECTORY( EpipolarGeometry )
 ELSE()
    MESSAGE(STATUS "RTAB-Map GUI lib is not built, the databaseViewer and epipolarGeometry programs will not be built...")
diff --git a/tools/viewer/CMakeLists.txt b/tools/viewer/CMakeLists.txt
new file mode 100644
index 00000000..3b1a70a0
--- /dev/null
+++ b/tools/viewer/CMakeLists.txt
@@ -0,0 +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}
+	${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)
+
diff --git a/tools/viewer/main.cpp b/tools/viewer/main.cpp
new file mode 100644
index 00000000..bbd4bb16
--- /dev/null
+++ b/tools/viewer/main.cpp
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <QtGui/QApplication>
+#include "rtabmap/gui/DatabaseViewer.h"
+#include "utilite/ULogger.h"
+
+int main(int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kInfo);
+
+	QApplication * app = new QApplication(argc, argv);
+	DatabaseViewer * mainWindow = new DatabaseViewer();
+	mainWindow->showNormal();
+
+	// Now wait for application to finish
+	app->connect( app, SIGNAL( lastWindowClosed() ),
+				app, SLOT( quit() ) );
+	app->exec();// MUST be called by the Main Thread
+
+	delete mainWindow;
+	delete app;
+
+	return 0;
+}