diff --git a/AutoPortPlacement/CMakeLists.txt b/AutoPortPlacement/CMakeLists.txt
index 32f293a..4cd4739 100644
--- a/AutoPortPlacement/CMakeLists.txt
+++ b/AutoPortPlacement/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.9)
+cmake_minimum_required(VERSION 3.5)
 
 if(NOT DEFINED CMAKE_MACOSX_RPATH)
   set(CMAKE_MACOSX_RPATH OFF)
diff --git a/AutoPortPlacement/Logic/CMake/FindEigen3.cmake b/AutoPortPlacement/Logic/CMake/FindEigen3.cmake
deleted file mode 100644
index 9c546a0..0000000
--- a/AutoPortPlacement/Logic/CMake/FindEigen3.cmake
+++ /dev/null
@@ -1,81 +0,0 @@
-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  EIGEN3_FOUND - system has eigen lib with correct version
-#  EIGEN3_INCLUDE_DIR - the eigen include directory
-#  EIGEN3_VERSION - eigen version
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
-  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
-  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen3_FIND_VERSION_MINOR)
-  if(NOT Eigen3_FIND_VERSION_PATCH)
-    set(Eigen3_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen3_FIND_VERSION_PATCH)
-
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
-  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK FALSE)
-  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK TRUE)
-  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
-  if(NOT EIGEN3_VERSION_OK)
-
-    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
-                   "but at least version ${Eigen3_FIND_VERSION} is required")
-  endif(NOT EIGEN3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN3_INCLUDE_DIR)
-
-  # in cache already
-  _eigen3_check_version()
-  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
-
-else (EIGEN3_INCLUDE_DIR)
-
-  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(EIGEN3_INCLUDE_DIR)
-    _eigen3_check_version()
-  endif(EIGEN3_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
-
-  mark_as_advanced(EIGEN3_INCLUDE_DIR)
-
-endif(EIGEN3_INCLUDE_DIR)
-
diff --git a/AutoPortPlacement/Logic/CMake/FindNLopt.cmake b/AutoPortPlacement/Logic/CMake/FindNLopt.cmake
deleted file mode 100644
index 6c6b352..0000000
--- a/AutoPortPlacement/Logic/CMake/FindNLopt.cmake
+++ /dev/null
@@ -1,33 +0,0 @@
-find_package(PkgConfig QUIET)
-PKG_CHECK_MODULES(PC_NLopt QUIET nlopt)
-
-find_path(NLopt_INCLUDE_DIR
-  NAMES nlopt.h
-  HINTS
-    ${NLopt_DIR}
-    ${PC_NLopt_INCLUDEDIR}
-    ${PC_NLopt_INCLUDE_DIRS}
-  PATH_SUFFIXES include
-  )
-
-find_library(NLopt_LIBRARY
-  NAMES
-    nlopt
-    nlopt-0
-    libnlopt
-    libnlopt-0
-  HINTS
-    ${NLopt_DIR}
-    ${PC_NLopt_LIBDIR}
-    ${PC_NLopt_LIBRARY_DIRS}
-  PATH_SUFFIXES
-    lib
-    lib64
-  )
-
-set(NLopt_INCLUDE_DIRS ${NLopt_INCLUDE_DIR})
-set(NLopt_LIBRARIES ${NLopt_LIBRARY})
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(NLopt DEFAULT_MSG NLopt_INCLUDE_DIRS NLopt_LIBRARIES)
-mark_as_advanced(NLopt_INCLUDE_DIR NLopt_LIBRARY)
diff --git a/AutoPortPlacement/Logic/CMakeLists.txt b/AutoPortPlacement/Logic/CMakeLists.txt
index dd3c108..0d9156d 100644
--- a/AutoPortPlacement/Logic/CMakeLists.txt
+++ b/AutoPortPlacement/Logic/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.9)
+cmake_minimum_required(VERSION 3.5)
 
 if(NOT DEFINED CMAKE_MACOSX_RPATH)
   set(CMAKE_MACOSX_RPATH OFF)
@@ -7,22 +7,14 @@ endif()
 #-----------------------------------------------------------------------------
 project(vtkSlicer${MODULE_NAME}ModuleLogic)
 
-set(CMAKE_MODULE_PATH
-  ${CMAKE_CURRENT_SOURCE_DIR}/CMake
-  ${CMAKE_MODULE_PATH})
-
-find_package(Eigen3 REQUIRED)
-find_package(NLopt REQUIRED)
+find_package(Eigen3 REQUIRED CONFIG)
 
 set(KIT ${PROJECT_NAME})
 
 set(${KIT}_EXPORT_DIRECTIVE "VTK_SLICER_${MODULE_NAME_UPPER}_MODULE_LOGIC_EXPORT")
 
 set(${KIT}_INCLUDE_DIRECTORIES
-  ${EIGEN3_INCLUDE_DIR}
-  ${NLopt_INCLUDE_DIRS}
   )
-include_directories(${${KIT}_INCLUDE_DIRECTORIES})
 
 set(${KIT}_SRCS
   vtkSlicer${MODULE_NAME}Logic.cxx
@@ -33,7 +25,7 @@ set(${KIT}_TARGET_LIBRARIES
   collisions
   davinci
   ${ITK_LIBRARIES}
-  ${NLopt_LIBRARIES}
+  Eigen3::Eigen
   optim
   vtkSlicerAnnotationsModuleMRML
   vtkSlicerMarkupsModuleMRML
diff --git a/AutoPortPlacement/Logic/collisions/CMakeLists.txt b/AutoPortPlacement/Logic/collisions/CMakeLists.txt
index 24c5e7c..6ba8a79 100644
--- a/AutoPortPlacement/Logic/collisions/CMakeLists.txt
+++ b/AutoPortPlacement/Logic/collisions/CMakeLists.txt
@@ -2,4 +2,8 @@ add_library(collisions STATIC
   collisions.cxx
   collisions.h
   )
+target_link_libraries(collisions PUBLIC Eigen3::Eigen)
+
 set_property(TARGET collisions PROPERTY POSITION_INDEPENDENT_CODE ON)
+
+set_property(GLOBAL APPEND PROPERTY Slicer_TARGETS collisions)
diff --git a/AutoPortPlacement/Logic/davinci-kinematics/CMakeLists.txt b/AutoPortPlacement/Logic/davinci-kinematics/CMakeLists.txt
index af86bdf..38caaf3 100644
--- a/AutoPortPlacement/Logic/davinci-kinematics/CMakeLists.txt
+++ b/AutoPortPlacement/Logic/davinci-kinematics/CMakeLists.txt
@@ -11,3 +11,5 @@ target_link_libraries(davinci
   ${ITK_LIBRARIES}
   ${VTK_LIBRARIES}
   )
+
+set_property(GLOBAL APPEND PROPERTY Slicer_TARGETS davinci)
diff --git a/AutoPortPlacement/Logic/davinci-kinematics/davinci.cxx b/AutoPortPlacement/Logic/davinci-kinematics/davinci.cxx
index 5b94f6c..c3cdb69 100644
--- a/AutoPortPlacement/Logic/davinci-kinematics/davinci.cxx
+++ b/AutoPortPlacement/Logic/davinci-kinematics/davinci.cxx
@@ -721,26 +721,6 @@ void DavinciKinematics::unscentedIK(const Eigen::Matrix4d& portFrame,
   covariance_qOut->swap(covariance_q);
 }
 
-namespace
-{
-  double fromPoseToExtraClearance(const DavinciKinematics& kin,
-                                  const Eigen::Matrix4d& portFrameL,
-                                  const Eigen::Matrix4d& portFrameR,
-                                  const Eigen::Matrix4d& targetPose)
-  {
-    std::vector<double> qL(6);
-    std::vector<double> qR(6);
-    std::vector<Collisions::Cylisphere> cylL, cylR;
-    std::vector<Collisions::Sphere> sL, sR;
-
-    kin.intraIK(portFrameL, targetPose, &qL);
-    kin.intraIK(portFrameR, targetPose, &qR);
-    kin.getExtraCylispheres(portFrameL, qL, &cylL);
-    kin.getExtraCylispheres(portFrameR, qR, &cylR);
-    return Collisions::distance(cylL, sL, cylR, sR);
-  }
-}
-
 double DavinciKinematics::fullClearances(const Eigen::Matrix4d& baseFrameL,
                                          const Eigen::Matrix4d& baseFrameR,
                                          const std::vector<double>& qL,
diff --git a/AutoPortPlacement/Logic/optim/CMakeLists.txt b/AutoPortPlacement/Logic/optim/CMakeLists.txt
index 638f3e1..919a41d 100644
--- a/AutoPortPlacement/Logic/optim/CMakeLists.txt
+++ b/AutoPortPlacement/Logic/optim/CMakeLists.txt
@@ -1,3 +1,6 @@
+
+find_package(NLopt REQUIRED CONFIG)
+
 add_library(optim STATIC
   optim.cxx
   optim.h
@@ -5,6 +8,12 @@ add_library(optim STATIC
 set_property(TARGET optim PROPERTY POSITION_INDEPENDENT_CODE ON)
 target_link_libraries(optim
   davinci
-  ${NLopt_LIBRARIES}
+  ${NLOPT_LIBRARIES}
   ${VTK_LIBRARIES}
   )
+
+target_include_directories(optim PUBLIC
+  ${NLOPT_INCLUDE_DIRS}
+  )
+
+set_property(GLOBAL APPEND PROPERTY Slicer_TARGETS optim)
diff --git a/AutoPortPlacement/Logic/tests/da-vinci-params-load-test.cxx b/AutoPortPlacement/Logic/tests/da-vinci-params-load-test.cxx
index b4b608f..748b33f 100644
--- a/AutoPortPlacement/Logic/tests/da-vinci-params-load-test.cxx
+++ b/AutoPortPlacement/Logic/tests/da-vinci-params-load-test.cxx
@@ -1,7 +1,7 @@
 #include <davinci-kinematics/davinci.h>
 #include <cmath>
 
-int main(int argc, char** argv)
+int main(int, char* [])
 {
   DavinciKinematics kinematics;
 
diff --git a/AutoPortPlacement/Logic/tests/da-vinci-passive-ik-test.cxx b/AutoPortPlacement/Logic/tests/da-vinci-passive-ik-test.cxx
index 23fffe4..b6b24bb 100644
--- a/AutoPortPlacement/Logic/tests/da-vinci-passive-ik-test.cxx
+++ b/AutoPortPlacement/Logic/tests/da-vinci-passive-ik-test.cxx
@@ -3,7 +3,7 @@
 
 #include <iostream>
 
-int main(int argc, char* argv[])
+int main(int, char* [])
 {
   DavinciKinematics kinematics;
 
diff --git a/AutoPortPlacement/Logic/tests/jacobian-test.cxx b/AutoPortPlacement/Logic/tests/jacobian-test.cxx
index 4762251..3d8104f 100644
--- a/AutoPortPlacement/Logic/tests/jacobian-test.cxx
+++ b/AutoPortPlacement/Logic/tests/jacobian-test.cxx
@@ -1,7 +1,7 @@
 #include <davinci-kinematics/davinci.h>
 #include <iostream>
 
-int main(int argc, char** argv)
+int main(int, char* [])
 {
   std::vector<double> q(6, 0.0);
   q[0] = 0.5;
diff --git a/AutoPortPlacement/Logic/tests/min-distance-test.cxx b/AutoPortPlacement/Logic/tests/min-distance-test.cxx
index fdc94da..fc016e5 100644
--- a/AutoPortPlacement/Logic/tests/min-distance-test.cxx
+++ b/AutoPortPlacement/Logic/tests/min-distance-test.cxx
@@ -2,7 +2,7 @@
 
 #include <iostream>
 
-int main(int argc, char* argv[])
+int main(int, char* [])
 {
   std::vector<Collisions::Cylisphere> c1, c2;
   std::vector<Collisions::Sphere> s1, s2;
diff --git a/AutoPortPlacement/Logic/vtkSlicerAutoPortPlacementLogic.cxx b/AutoPortPlacement/Logic/vtkSlicerAutoPortPlacementLogic.cxx
index 2e1c5c0..799c9e8 100644
--- a/AutoPortPlacement/Logic/vtkSlicerAutoPortPlacementLogic.cxx
+++ b/AutoPortPlacement/Logic/vtkSlicerAutoPortPlacementLogic.cxx
@@ -158,6 +158,11 @@ void vtkSlicerAutoPortPlacementLogic::RenderRobot()
 // Initializes the models and transforms for visualizing the Davinci robot.
 void vtkSlicerAutoPortPlacementLogic::InitRobot()
 {
+  if (!this->GetMRMLScene())
+    {
+    return;
+    }
+
   std::vector<Collisions::Cylisphere> cylispheres;
   std::vector<Collisions::Sphere> spheres(2);
 
diff --git a/AutoPortPlacement/qSlicerAutoPortPlacementModule.cxx b/AutoPortPlacement/qSlicerAutoPortPlacementModule.cxx
index 730ac71..1adb2a3 100644
--- a/AutoPortPlacement/qSlicerAutoPortPlacementModule.cxx
+++ b/AutoPortPlacement/qSlicerAutoPortPlacementModule.cxx
@@ -26,7 +26,10 @@
 #include "qSlicerAutoPortPlacementModuleWidget.h"
 
 //-----------------------------------------------------------------------------
+#if (QT_VERSION < QT_VERSION_CHECK(5, 0, 0))
+#include <QtPlugin>
 Q_EXPORT_PLUGIN2(qSlicerAutoPortPlacementModule, qSlicerAutoPortPlacementModule);
+#endif
 
 //-----------------------------------------------------------------------------
 /// \ingroup Slicer_QtModules_ExtensionTemplate
diff --git a/AutoPortPlacement/qSlicerAutoPortPlacementModule.h b/AutoPortPlacement/qSlicerAutoPortPlacementModule.h
index 1b92a4d..399daa1 100644
--- a/AutoPortPlacement/qSlicerAutoPortPlacementModule.h
+++ b/AutoPortPlacement/qSlicerAutoPortPlacementModule.h
@@ -31,6 +31,9 @@ qSlicerAutoPortPlacementModule
   : public qSlicerLoadableModule
 {
   Q_OBJECT
+#ifdef Slicer_HAVE_QT5
+  Q_PLUGIN_METADATA(IID "org.slicer.modules.loadable.qSlicerLoadableModule/1.0");
+#endif
   Q_INTERFACES(qSlicerLoadableModule);
 
 public:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f62e81d..38347ed 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.9)
+cmake_minimum_required(VERSION 3.5)
 
 project(PortPlacement)
 
@@ -9,6 +9,10 @@ set(EXTENSION_CONTRIBUTORS "Luis G. Torres (UNC)")
 set(EXTENSION_DESCRIPTION "Assists in the planning of surgical port placement in a laparoscopic procedure.")
 set(EXTENSION_ICONURL "http://viewvc.slicer.org/viewvc.cgi/Slicer4/trunk/Extensions/Testing/PortPlacement/PortPlacement.png?revision=21747&view=co")
 set(EXTENSION_SCREENSHOTURLS "http://wiki.slicer.org/slicerWiki/images/e/e2/Slicer-r19441-PortPlacement-screenshot.png")
+set(EXTENSION_DEPENDS "Eigen3")
+set(EXTENSION_BUILD_SUBDIRECTORY inner-build)
+
+set(SUPERBUILD_TOPLEVEL_PROJECT inner)
 
 #
 # Implementation agnostic fPIC
@@ -16,12 +20,30 @@ set(EXTENSION_SCREENSHOTURLS "http://wiki.slicer.org/slicerWiki/images/e/e2/Slic
 set( CMAKE_POSITION_INDEPENDENT_CODE ON )
 
 #-----------------------------------------------------------------------------
+# Extension dependencies
 find_package(Slicer REQUIRED)
 include(${Slicer_USE_FILE})
+mark_as_superbuild(Slicer_DIR)
+
+find_package(Git REQUIRED)
+mark_as_superbuild(GIT_EXECUTABLE)
+
+find_package(Eigen3 REQUIRED CONFIG)
+mark_as_superbuild(Eigen3_DIR)
+
+#-----------------------------------------------------------------------------
+# SuperBuild setup
+option(${EXTENSION_NAME}_SUPERBUILD "Build ${EXTENSION_NAME} and the projects it depends on." ON)
+mark_as_advanced(${EXTENSION_NAME}_SUPERBUILD)
+if(${EXTENSION_NAME}_SUPERBUILD)
+  include("${CMAKE_CURRENT_SOURCE_DIR}/SuperBuild.cmake")
+  return()
+endif()
 
 #-----------------------------------------------------------------------------
 add_subdirectory(PortPlacement)
 add_subdirectory(AutoPortPlacement)
 
 #-----------------------------------------------------------------------------
+include(${Slicer_EXTENSION_GENERATE_CONFIG})
 include(${Slicer_EXTENSION_CPACK})
diff --git a/PortPlacement/PortPlacement.py b/PortPlacement/PortPlacement.py
index 23a77ed..c6a5b82 100644
--- a/PortPlacement/PortPlacement.py
+++ b/PortPlacement/PortPlacement.py
@@ -235,7 +235,7 @@ def onRemovePortButton(self):
     # Problem: currentIndex() can be valid even when there is no
     # visible selection. This will have to do for now while I figure
     # out how to making Python bindings to QList<QModelIndex> (ugh)
-    index = self.portsTable.selectionModel().currentIndex()
+    index = self.portsTable.selectionModel().currentIndex
     self.logic.markupsNode.RemoveMarkup(index.row())
     self.updateTable()
 
@@ -718,7 +718,7 @@ def test_PortPlacement1(self):
 
     target_p = [0,0,0]
     targetNode.GetNthFiducialPosition(0, target_p)
-    targetWorld = target_p + [1]
+    targetWorld = target_p
 
     # check retargeting by verifying that tools' positions are
     # unchanged and that their y-axes are oriented toward point
@@ -731,7 +731,7 @@ def test_PortPlacement1(self):
       diff = numpy.array(p) - numpy.array(tool_pos)
       self.assertTrue(numpy.dot(diff,diff) < 1e-10)
 
-      targetLocal = [0,0,0,1]
+      targetLocal = [0,0,0]
       logic.toolList[i].modelNode.TransformPointFromWorld(targetWorld, targetLocal)
 
       targetLocal = numpy.array(targetLocal)[0:3]
diff --git a/SuperBuild.cmake b/SuperBuild.cmake
new file mode 100644
index 0000000..b95fc33
--- /dev/null
+++ b/SuperBuild.cmake
@@ -0,0 +1,65 @@
+
+#-----------------------------------------------------------------------------
+# Git protocol option
+#-----------------------------------------------------------------------------
+option(Slicer_USE_GIT_PROTOCOL "If behind a firewall turn this off to use http instead." ON)
+
+set(git_protocol "git")
+if(NOT Slicer_USE_GIT_PROTOCOL)
+  set(git_protocol "http")
+endif()
+
+#-----------------------------------------------------------------------------
+# Enable and setup External project global properties
+#-----------------------------------------------------------------------------
+
+set(ep_common_c_flags "${CMAKE_C_FLAGS_INIT} ${ADDITIONAL_C_FLAGS}")
+set(ep_common_cxx_flags "${CMAKE_CXX_FLAGS_INIT} ${ADDITIONAL_CXX_FLAGS}")
+
+#-----------------------------------------------------------------------------
+# Project dependencies
+#-----------------------------------------------------------------------------
+
+include(ExternalProject)
+
+foreach(dep ${EXTENSION_DEPENDS})
+  mark_as_superbuild(${dep}_DIR)
+endforeach()
+
+set(proj ${SUPERBUILD_TOPLEVEL_PROJECT})
+set(${proj}_DEPENDS NLopt)
+
+ExternalProject_Include_Dependencies(${proj}
+  PROJECT_VAR proj
+  SUPERBUILD_VAR ${EXTENSION_NAME}_SUPERBUILD
+  )
+
+ExternalProject_Add(${proj}
+  ${${proj}_EP_ARGS}
+  DOWNLOAD_COMMAND ""
+  INSTALL_COMMAND ""
+  SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}
+  BINARY_DIR ${EXTENSION_BUILD_SUBDIRECTORY}
+  BUILD_ALWAYS 1
+  CMAKE_CACHE_ARGS
+    -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+    -DCMAKE_CXX_FLAGS:STRING=${ep_common_cxx_flags}
+    -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
+    -DCMAKE_C_FLAGS:STRING=${ep_common_c_flags}
+    -DCMAKE_CXX_STANDARD:STRING=${CMAKE_CXX_STANDARD}
+    -DCMAKE_CXX_STANDARD_REQUIRED:BOOL=${CMAKE_CXX_STANDARD_REQUIRED}
+    -DCMAKE_CXX_EXTENSIONS:BOOL=${CMAKE_CXX_EXTENSIONS}
+    -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+    -DCMAKE_RUNTIME_OUTPUT_DIRECTORY:PATH=${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    -DCMAKE_LIBRARY_OUTPUT_DIRECTORY:PATH=${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
+    -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY:PATH=${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
+    -DSubversion_SVN_EXECUTABLE:FILEPATH=${Subversion_SVN_EXECUTABLE}
+    -DGIT_EXECUTABLE:FILEPATH=${GIT_EXECUTABLE}
+    -DMIDAS_PACKAGE_EMAIL:STRING=${MIDAS_PACKAGE_EMAIL}
+    -DMIDAS_PACKAGE_API_KEY:STRING=${MIDAS_PACKAGE_API_KEY}
+    -D${EXTENSION_NAME}_SUPERBUILD:BOOL=OFF
+    -DEXTENSION_SUPERBUILD_BINARY_DIR:PATH=${${EXTENSION_NAME}_BINARY_DIR}
+  DEPENDS
+    ${${proj}_DEPENDS}
+  )
+
diff --git a/SuperBuild/External_NLopt.cmake b/SuperBuild/External_NLopt.cmake
new file mode 100644
index 0000000..221a83f
--- /dev/null
+++ b/SuperBuild/External_NLopt.cmake
@@ -0,0 +1,62 @@
+
+set(proj NLopt)
+
+# Set dependency list
+set(${proj}_DEPENDS "")
+
+# Include dependent projects if any
+ExternalProject_Include_Dependencies(${proj} PROJECT_VAR proj)
+
+if(${CMAKE_PROJECT_NAME}_USE_SYSTEM_${proj})
+  message(FATAL_ERROR "Enabling ${CMAKE_PROJECT_NAME}_USE_SYSTEM_${proj} is not supported !")
+endif()
+
+# Sanity checks
+if(DEFINED NLopt_DIR AND NOT EXISTS ${NLopt_DIR})
+  message(FATAL_ERROR "NLopt_DIR variable is defined but corresponds to nonexistent directory")
+endif()
+
+if(NOT DEFINED ${proj}_DIR AND NOT ${CMAKE_PROJECT_NAME}_USE_SYSTEM_${proj})
+
+  if(NOT DEFINED git_protocol)
+    set(git_protocol "git")
+  endif()
+
+  ExternalProject_Add(${proj}
+    ${${proj}_EP_ARGS}
+    GIT_REPOSITORY "${git_protocol}://github.com/stevengj/nlopt.git"
+    GIT_TAG "014208e6bd03531aab8c45cf1902bec8b720df99" # master 2017-08-05
+    SOURCE_DIR ${CMAKE_BINARY_DIR}/${proj}
+    BINARY_DIR ${proj}-build
+    INSTALL_DIR ${proj}-install
+    CMAKE_CACHE_ARGS
+      -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+      -DCMAKE_CXX_FLAGS:STRING=${ep_common_cxx_flags}
+      -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
+      -DCMAKE_C_FLAGS:STRING=${ep_common_c_flags}
+      -DCMAKE_CXX_STANDARD:STRING=${CMAKE_CXX_STANDARD}
+      -DCMAKE_CXX_STANDARD_REQUIRED:BOOL=${CMAKE_CXX_STANDARD_REQUIRED}
+      -DCMAKE_CXX_EXTENSIONS:BOOL=${CMAKE_CXX_EXTENSIONS}
+      -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+      -DBUILD_TESTING:BOOL=OFF
+      -DCMAKE_MACOSX_RPATH:BOOL=0
+      -DCMAKE_RUNTIME_OUTPUT_DIRECTORY:PATH=${CMAKE_BINARY_DIR}/${Slicer_THIRDPARTY_BIN_DIR}
+      -DCMAKE_LIBRARY_OUTPUT_DIRECTORY:PATH=${CMAKE_BINARY_DIR}/${Slicer_THIRDPARTY_LIB_DIR}
+      -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY:PATH=${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
+       # The following two variables should be udpated to match the
+       # requirements of a real CMake based external project.
+      -DNLopt_INSTALL_RUNTIME_DIR:STRING=${Slicer_INSTALL_THIRDPARTY_LIB_DIR}
+      -DNLopt_INSTALL_LIBRARY_DIR:STRING=${Slicer_INSTALL_THIRDPARTY_LIB_DIR}
+      -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+      -DBUILD_SHARED_LIBS:BOOL=OFF
+    DEPENDS
+      ${${proj}_DEPENDS}
+    )
+  set(${proj}_DIR ${CMAKE_BINARY_DIR}/${proj}-install/lib/cmake/nlopt/)
+
+else()
+  ExternalProject_Add_Empty(${proj} DEPENDS ${${proj}_DEPENDS})
+endif()
+
+mark_as_superbuild(${proj}_DIR:PATH)
+