diff --git a/CMakeLists.txt b/CMakeLists.txt
index 99d91dce9..3331390e2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,6 @@ set(CMAKE_OSX_DEPLOYMENT_TARGET "10.15" CACHE STRING "Minimum OS X deployment ta
 
 project(g2o)
 
-include(CPack)
 include(GNUInstallDirs)
 
 # The library prefix
@@ -465,6 +464,11 @@ install(
     NAMESPACE "${G2O_NAMESPACE}"
     DESTINATION "${G2O_CONFIG_INSTALL_DIR}")
 
+option(G2O_BUILD_PACKAGE "Include package build config for cpack" OFF)
+if(G2O_BUILD_PACKAGE)
+  include(Packaging)
+endif()
+
 # Include the subdirectories
 add_subdirectory(g2o)
 
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 000000000..aebdbdc3c
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,25 @@
+// g2o - General Graph Optimization
+// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+//   notice, this list of conditions and the following disclaimer in the
+//   documentation and/or other materials provided with the distribution.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/cmake_modules/Packaging.cmake b/cmake_modules/Packaging.cmake
new file mode 100644
index 000000000..704e4156f
--- /dev/null
+++ b/cmake_modules/Packaging.cmake
@@ -0,0 +1,54 @@
+# RPATH setup
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
+if("${isSystemDir}" STREQUAL "-1")
+  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+endif()
+
+# helper for splitting version string
+macro(version_split version_str major minor patch)
+  string(REGEX REPLACE "([0-9]+).[0-9]+.[0-9]+" "\\1" ${major} ${version_str})
+  string(REGEX REPLACE "[0-9]+.([0-9]+).[0-9]+" "\\1" ${minor} ${version_str})
+  string(REGEX REPLACE "[0-9]+.[0-9]+.([0-9]+)" "\\1" ${patch} ${version_str})
+endmacro()
+
+version_split(${G2O_VERSION} g2o_major g2o_minor g2o_patch)
+
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}
+    CACHE STRING "g2o"
+)
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "g2o: General Graph Optimization" CACHE
+  STRING "g2o is an open-source C++ framework for optimizing graph-based
+  nonlinear error functions. g2o has been designed to be easily extensible to a
+  wide range of problems and a new problem typically can be specified in a few
+  lines of code. The current implementation provides solutions to several
+  variants of SLAM and BA."
+)
+
+set(CPACK_VERBATIM_VARIABLES YES)
+
+set(CPACK_PACKAGE_INSTALL_DIRECTORY ${CPACK_PACKAGE_NAME})
+SET(CPACK_OUTPUT_FILE_PREFIX "${PROJECT_BINARY_DIR}/_packages")
+
+set(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+set(CPACK_PROJECT_CONFIG_FILE ${CMAKE_SOURCE_DIR}/cmake_modules/PackagingConfig.cmake)
+set(CPACK_STRIP_FILES YES)
+
+set(CPACK_PACKAGE_VERSION_MAJOR ${g2o_major})
+set(CPACK_PACKAGE_VERSION_MINOR ${g2o_minor})
+set(CPACK_PACKAGE_VERSION_PATCH ${g2o_patch})
+
+set(CPACK_PACKAGE_CONTACT "Rainer Kuemmerle <rainer.kuemmerle@gmail.com>")
+
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
+
+set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)
+set(CPACK_DEB_COMPONENT_INSTALL YES)
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS YES)
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS_PRIVATE_DIRS "${g2o_LIBRARY_OUTPUT_DIRECTORY}")
+
+include(CPack)
diff --git a/todo.md b/todo.md
index ace043997..ac767726f 100644
--- a/todo.md
+++ b/todo.md
@@ -11,6 +11,7 @@
 [ ] update py_base_vertex/edge to map now common methods
 [ ] Use FakeDependency in Traits
 [ ] wrap abstract graph to python and update save wrapper
+[x] CPack config
 [x] Create parameter type for ParameterCamera to support load/save
 [x] Refactor Data container. Can it be a container instead of linked list?
 [x] EdgeSE2TwoPointsXY, EdgeSE2PointXYCalib can be fixed size edges -> IO test