diff --git a/CMakeLists.txt b/CMakeLists.txt
index c14cb659b7..3fdc00062a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -325,9 +325,11 @@ IF(WITH_QT)
     ENDIF()
         
     IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
-        set(CMAKE_AUTOUIC ON)
-        set(CMAKE_AUTOMOC ON)
-        set(CMAKE_AUTORCC ON)
+        # For VCPKG build, set those global variables to off, 
+        # we will enable them for jsut specific targets
+        set(CMAKE_AUTOMOC OFF)
+        set(CMAKE_AUTORCC OFF)
+        set(CMAKE_AUTOUIC OFF)
         IF("${VTK_MAJOR_VERSION}" EQUAL 5)
             FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
         ELSE()
diff --git a/examples/NoEventsExample/CMakeLists.txt b/examples/NoEventsExample/CMakeLists.txt
index e72092e00b..e7e074d34a 100644
--- a/examples/NoEventsExample/CMakeLists.txt
+++ b/examples/NoEventsExample/CMakeLists.txt
@@ -23,6 +23,14 @@ ADD_EXECUTABLE(noEventsExample main.cpp ${moc_srcs})
   
 TARGET_LINK_LIBRARIES(noEventsExample rtabmap::gui)
 
+SET_TARGET_PROPERTIES(
+     noEventsExample
+   PROPERTIES
+	 AUTOUIC ON
+     AUTOMOC ON
+     AUTORCC ON
+)
+
 if(internal)
 	SET_TARGET_PROPERTIES( noEventsExample 
 	  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-noEventsExample)
diff --git a/examples/RGBDMapping/CMakeLists.txt b/examples/RGBDMapping/CMakeLists.txt
index b0ee3b01f4..6f6a53104a 100644
--- a/examples/RGBDMapping/CMakeLists.txt
+++ b/examples/RGBDMapping/CMakeLists.txt
@@ -23,6 +23,14 @@ ADD_EXECUTABLE(rgbd_mapping main.cpp ${moc_srcs})
   
 TARGET_LINK_LIBRARIES(rgbd_mapping rtabmap::gui)
 
+SET_TARGET_PROPERTIES(
+     rgbd_mapping
+   PROPERTIES
+	 AUTOUIC ON
+     AUTOMOC ON
+     AUTORCC ON
+)
+
 if(internal)
   SET_TARGET_PROPERTIES( rgbd_mapping 
     PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-rgbd_mapping)
diff --git a/examples/WifiMapping/CMakeLists.txt b/examples/WifiMapping/CMakeLists.txt
index c6e3e6c418..0614c99e1c 100644
--- a/examples/WifiMapping/CMakeLists.txt
+++ b/examples/WifiMapping/CMakeLists.txt
@@ -42,6 +42,14 @@ ENDIF(APPLE)
 ADD_EXECUTABLE(wifi_mapping ${srcs} ${moc_srcs})
 TARGET_LINK_LIBRARIES(wifi_mapping rtabmap::gui ${LIBRARIES})
 
+SET_TARGET_PROPERTIES(
+     wifi_mapping
+   PROPERTIES
+	 AUTOUIC ON
+     AUTOMOC ON
+     AUTORCC ON
+)
+
 if(internal)
   SET_TARGET_PROPERTIES( wifi_mapping 
     PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-wifi_mapping)
diff --git a/guilib/src/CMakeLists.txt b/guilib/src/CMakeLists.txt
index 45012a2fb1..e53c105411 100644
--- a/guilib/src/CMakeLists.txt
+++ b/guilib/src/CMakeLists.txt
@@ -199,6 +199,9 @@ SET_TARGET_PROPERTIES(
      VERSION ${RTABMAP_VERSION}
      SOVERSION ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}
      EXPORT_NAME "gui"
+	 AUTOUIC ON
+     AUTOMOC ON
+     AUTORCC ON
 )
 
 INSTALL(TARGETS rtabmap_gui EXPORT rtabmap_guiTargets
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 8a5908497e..059a1dfdb8 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -1018,6 +1018,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 	UDEBUG("");
 	_processingOdometry = true;
 	UTimer time;
+	UTimer timeTotal;
 	// Process Data
 
 	// Set color code as tooltip
@@ -1898,7 +1899,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 			_ui->statsToolBox->updateStat("Odometry/Distance/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().distanceTravelled, _preferencesDialog->isCacheSavedInFigures());
 		}
 
-		_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), time.elapsed()*1000.0, _preferencesDialog->isCacheSavedInFigures());
+		_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), timeTotal.elapsed()*1000.0, _preferencesDialog->isCacheSavedInFigures());
 		UDEBUG("Time updating Stats toolbox: %fs", time.ticks());
 	}
 	_processingOdometry = false;
diff --git a/tools/EurocDataset/CMakeLists.txt b/tools/EurocDataset/CMakeLists.txt
index 6598decbdc..e766ee1321 100644
--- a/tools/EurocDataset/CMakeLists.txt
+++ b/tools/EurocDataset/CMakeLists.txt
@@ -2,9 +2,12 @@
 FIND_PACKAGE(yaml-cpp QUIET)
 
 IF(yaml-cpp_FOUND)
-  # yaml-cpp 0.8.0 uses the wrong target in YAML_CPP_LIBRARIES.
-  IF(yaml-cpp_VERSION VERSION_EQUAL "0.8.0")
+  IF (TARGET yaml-cpp::yaml-cpp)
+    # yaml-cpp 0.8.0 uses target yaml-cpp::yaml-cpp.
     SET(YAML_CPP_LIBRARIES yaml-cpp::yaml-cpp)
+  ELSEIF (TARGET yaml-cpp)
+    # yaml-cpp 0.7.0 uses target yaml-cpp (VCPKG).
+    SET(YAML_CPP_LIBRARIES yaml-cpp)
   ENDIF()
 ELSE()
    find_package(PkgConfig QUIET)