diff --git a/mrpt-0.9.5.gcc47.patch b/mrpt-0.9.5.gcc47.patch
index c3ed3de..e31b71d 100644
--- a/mrpt-0.9.5.gcc47.patch
+++ b/mrpt-0.9.5.gcc47.patch
@@ -1,6 +1,6 @@
 diff -up ./mrpt-0.9.5/libs/base/include/mrpt/math/eigen_plugins.h.gcc47 ./mrpt-0.9.5/libs/base/include/mrpt/math/eigen_plugins.h
---- ./mrpt-0.9.5/libs/base/include/mrpt/math/eigen_plugins.h.gcc47	2012-07-14 19:46:25.374532651 -0400
-+++ ./mrpt-0.9.5/libs/base/include/mrpt/math/eigen_plugins.h	2012-07-14 19:46:57.228764489 -0400
+--- ./mrpt-0.9.5/libs/base/include/mrpt/math/eigen_plugins.h.gcc47	2011-05-31 17:22:27.000000000 -0400
++++ ./mrpt-0.9.5/libs/base/include/mrpt/math/eigen_plugins.h	2012-07-15 11:41:56.486414550 -0400
 @@ -394,8 +394,8 @@ public:
  		outStdVector.resize(cols());
  		for (Index i=0;i<cols();i++)
@@ -14,7 +14,18 @@ diff -up ./mrpt-0.9.5/libs/base/include/mrpt/math/eigen_plugins.h.gcc47 ./mrpt-0
  
 diff -up ./mrpt-0.9.5/libs/base/include/mrpt/otherlibs/stlplus/smart_ptr.hpp.gcc47 ./mrpt-0.9.5/libs/base/include/mrpt/otherlibs/stlplus/smart_ptr.hpp
 --- ./mrpt-0.9.5/libs/base/include/mrpt/otherlibs/stlplus/smart_ptr.hpp.gcc47	2010-07-15 21:13:00.000000000 -0400
-+++ ./mrpt-0.9.5/libs/base/include/mrpt/otherlibs/stlplus/smart_ptr.hpp	2012-07-14 19:46:08.978898821 -0400
++++ ./mrpt-0.9.5/libs/base/include/mrpt/otherlibs/stlplus/smart_ptr.hpp	2012-07-15 11:43:27.393783416 -0400
+@@ -271,8 +271,8 @@ namespace stlplus
+     smart_ptr(void) {}
+     explicit smart_ptr(const T& data) : smart_ptr_base<T, constructor_copy<T>,COUNTER >(data) {}
+     explicit smart_ptr(T* data) : smart_ptr_base<T, constructor_copy<T>,COUNTER >(data) {}
+-    smart_ptr<T>& operator=(const T& data) {set_value(data); return *this;}
+-    smart_ptr<T>& operator=(const smart_ptr<T>& r) {alias(r); return *this;}
++    smart_ptr<T>& operator=(const T& data) {this->set_value(data); return *this;}
++    smart_ptr<T>& operator=(const smart_ptr<T>& r) {this->alias(r); return *this;}
+     ~smart_ptr(void) {}
+   };
+ 
 @@ -286,8 +286,8 @@ namespace stlplus
      smart_ptr_clone(void) {}
      explicit smart_ptr_clone(const T& data) : smart_ptr_base<T, clone_copy<T>, COUNTER >(data) {}
@@ -26,9 +37,20 @@ diff -up ./mrpt-0.9.5/libs/base/include/mrpt/otherlibs/stlplus/smart_ptr.hpp.gcc
      ~smart_ptr_clone(void) {}
    };
  
+@@ -301,8 +301,8 @@ namespace stlplus
+     smart_ptr_nocopy(void) {}
+     explicit smart_ptr_nocopy(const T& data) : smart_ptr_base<T, no_copy<T>, COUNTER >(data) {}
+     explicit smart_ptr_nocopy(T* data) : smart_ptr_base<T, no_copy<T>, COUNTER >(data) {}
+-    smart_ptr_nocopy<T>& operator=(const T& data) {set_value(data); return *this;}
+-    smart_ptr_nocopy<T>& operator=(const smart_ptr_nocopy<T>& r) {alias(r); return *this;}
++    smart_ptr_nocopy<T>& operator=(const T& data) {this->set_value(data); return *this;}
++    smart_ptr_nocopy<T>& operator=(const smart_ptr_nocopy<T>& r) {this->alias(r); return *this;}
+     ~smart_ptr_nocopy(void) {}
+   };
+ 
 diff -up ./mrpt-0.9.5/libs/base/src/utils/simpleini/SimpleIni.h.gcc47 ./mrpt-0.9.5/libs/base/src/utils/simpleini/SimpleIni.h
 --- ./mrpt-0.9.5/libs/base/src/utils/simpleini/SimpleIni.h.gcc47	2010-05-14 06:31:39.000000000 -0400
-+++ ./mrpt-0.9.5/libs/base/src/utils/simpleini/SimpleIni.h	2012-07-14 19:46:08.980898899 -0400
++++ ./mrpt-0.9.5/libs/base/src/utils/simpleini/SimpleIni.h	2012-07-15 11:41:56.487414587 -0400
 @@ -416,7 +416,7 @@ public:
              return *this;
          }
diff --git a/mrpt.spec b/mrpt.spec
index 447b56d..cb7002f 100644
--- a/mrpt.spec
+++ b/mrpt.spec
@@ -1,7 +1,7 @@
 Summary: Libraries and programs for mobile robot SLAM and navigation
 Name: mrpt
-Version: 0.9.5
-Release: 0.6.20110917svn2662%{?dist}
+Version: 0.9.6
+Release: 1%{?dist}
 License: GPLv3+
 Group: Development/Libraries
 URL: http://www.mrpt.org/
@@ -15,15 +15,19 @@ URL: http://www.mrpt.org/
 # following commands to generate the tarball:
 #  svn export http://babel.isa.uma.es/mrpt-browse-code/mrpt-0.7.0 mrpt-0.7.0
 #  tar -czvf mrpt-0.7.0-20090529svn1047.tar.gz mrpt-0.70
-Source: http://archive.mrpt.org/fedora-packages/mrpt-0.9.5-20110917svn2662.tar.gz
+#Source: http://archive.mrpt.org/fedora-packages/mrpt-0.9.5-20110917svn2662.tar.gz
+Source0: http://sourceforge.net/projects/mrpt/files/MRPT-all/MRPT-0.9.6/mrpt-0.9.6.tar.gz
 Patch0: mrpt-0.9.5.gcc47.patch
 Patch1: mrpt-0.9.5.gzip.patch
+Patch2: mrpt-0.9.6-eigen306.patch
+Patch3: mrpt-0.9.6-pcl16.patch
 
 BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 
 BuildRequires: cmake
 BuildRequires: wxGTK-devel, opencv-devel, freeglut-devel, lib3ds-devel
 BuildRequires: boost-devel
+BuildRequires: eigen3-devel pcl-devel
 BuildRequires: doxygen, ghostscript, graphviz
 BuildRequires: tex(latex), tex(dvips)
 %ifnarch s390 s390x
@@ -260,8 +264,10 @@ with Doxygen.
 
 %prep
 %setup -q
-%patch0 -p2 -b .gcc47
+#%patch0 -p2 -b .gcc47
 %patch1 -p2 -b .gzip
+%patch2 -p2 -b .eigen306
+%patch3 -p2 -b .pcl16
 # Fix encoding of the mrpt-book file
 #gzip -d doc/mrpt-book.ps.gz
 #iconv -f ISO8859-1 -t UTF-8 doc/mrpt-book.ps > mrpt-book.ps.conv
@@ -271,18 +277,28 @@ with Doxygen.
 
 %build
 # The flag CMAKE_MRPT_IS_RPM_PACKAGE disables global "-mtune=native"
-%cmake . -DCMAKE_MRPT_IS_RPM_PACKAGE=1
-make VERBOSE=1 %{?_smp_mflags}
+mkdir build
+cd build
+%cmake -DCMAKE_MRPT_IS_RPM_PACKAGE=1 \
+  -DCMAKE_BUILD_TYPE=NONE \
+  -DEIGEN_USE_EMBEDDED_VERSION=OFF \
+  -DBUILD_KINECT=OFF \
+  -DBUILD_ARIA=OFF \
+  -DBUILD_XSENS=OFF \
+  ..
+
+make VERBOSE=1 
+#%{?_smp_mflags}
 make documentation_html
 make man_pages_all
 
 %check
 export LD_LIBRARY_PATH=$(pwd)/lib
-make test VERBOSE=1 ARGS="-VV" || echo "**Warning**: unit tests failed, check whether it was only due to SSE* stuff" 
+make -C build test VERBOSE=1 ARGS="-VV" || echo "**Warning**: unit tests failed, check whether it was only due to SSE* stuff" 
 
 %install
 rm -rf $RPM_BUILD_ROOT
-make install DESTDIR=$RPM_BUILD_ROOT
+make -C build install DESTDIR=$RPM_BUILD_ROOT
 # Validate .g files:
 find ${RPM_BUILD_ROOT}%{_datadir}/applications/ -name "*.desktop" | xargs -I FIL desktop-file-validate FIL