diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
new file mode 100644
index 0000000000..8abe053542
--- /dev/null
+++ b/.github/workflows/linux.yml
@@ -0,0 +1,100 @@
+name: Linux
+on:
+  pull_request:
+    branches: 
+      - "*" # Pull request for all branches
+  schedule:
+    - cron:  '10 12 * * 0'
+
+# Every time you make a push to your PR, it cancel immediately the previous checks,
+# and start a new one. The other runner will be available more quickly to your PR.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: vcpkg-ubuntu-${{ matrix.type }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - type: x64
+          BUILD_DIR: gtsam/3rdparty/vcpkg/cache
+          VCPKG_ROOT: gtsam/3rdparty/vcpkg/cache/vcpkg
+          VCPKG_LINK: https://github.com/microsoft/vcpkg/
+          VCPKG_CONFIGS: gtsam/3rdparty/vcpkg
+          BINARY_CACHE: gtsam/3rdparty/cache/linux
+    env:
+      BUILD_DIR: ${{ matrix.BUILD_DIR }}
+      VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
+      VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
+      VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
+      BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Cache dependencies
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: linux-${{ hashFiles('.github/workflows/linux.yml') }}
+          restore-keys: linux-${{ hashFiles('.github/workflows/linux.yml') }}
+
+      - name: Install ninja
+        if: success()
+        run: |   
+          sudo apt install -y ninja-build
+          ninja --version
+          whereis ninja
+
+      - name: Init vcpkg
+        if: success()
+        run: |        
+          mkdir -p $BUILD_DIR
+          git -C $BUILD_DIR clone $VCPKG_LINK
+
+      - name: Vcpkg build & cmake config
+        if: success() 
+        run: |
+          export VCPKG_BINARY_SOURCES="clear;files,$PWD/$BINARY_CACHE,readwrite;"
+          mkdir -p $BINARY_CACHE
+          export CMAKE_GENERATOR=Ninja
+          cmake . -B build \
+              -DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake \
+              -DVCPKG_MANIFEST_DIR=$VCPKG_CONFIGS/manifest \
+              -DVCPKG_INSTALLED_DIR=$VCPKG_ROOT/installed \
+              -DVCPKG_OVERLAY_TRIPLETS=$VCPKG_CONFIGS/triplets \
+              -DVCPKG_TARGET_TRIPLET=x64-linux-release \
+              -DVCPKG_INSTALL_OPTIONS=--clean-after-build \
+              -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
+              -DGTSAM_ROT3_EXPMAP=ON \
+              -DGTSAM_POSE3_EXPMAP=ON \
+              -DGTSAM_BUILD_PYTHON=ON \
+              -DGTSAM_BUILD_TESTS=ON \
+              -DGTSAM_BUILD_UNSTABLE=ON \
+              -DGTSAM_USE_SYSTEM_EIGEN=ON \
+              -DGTSAM_USE_SYSTEM_METIS=ON \
+              -DGTSAM_SUPPORT_NESTED_DISSECTION=ON
+
+      - name: Save cache dependencies
+        id: cache-save
+        uses: actions/cache/save@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: linux-${{ hashFiles('.github/workflows/linux.yml') }}-${{ hashFiles('gtsam/3rdparty/vcpkg/cache/vcpkg/installed/vcpkg/updates/*') }}
+
+
+      - name: Cmake build
+        if: success()
+        run: |
+          cmake --build build --config Release -j 2
+
+      - name: Run tests
+        if: success() 
+        run: |
+          cmake --build build --target check -j 2
diff --git a/.github/workflows/osx.yml b/.github/workflows/osx.yml
new file mode 100644
index 0000000000..b8e98bb4e9
--- /dev/null
+++ b/.github/workflows/osx.yml
@@ -0,0 +1,108 @@
+name: OSX
+on:
+  pull_request:
+    branches: 
+      - "*" # Pull request for all branches
+  schedule:
+    - cron:  '10 12 * * 0'
+
+# Every time you make a push to your PR, it cancel immediately the previous checks,
+# and start a new one. The other runner will be available more quickly to your PR.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: vcpkg-macos-${{ matrix.type }}
+    runs-on: macos-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - type: x64
+          BUILD_DIR: gtsam/3rdparty/vcpkg/cache
+          VCPKG_ROOT: gtsam/3rdparty/vcpkg/cache/vcpkg
+          VCPKG_LINK: https://github.com/microsoft/vcpkg/
+          VCPKG_CONFIGS: gtsam/3rdparty/vcpkg
+          BINARY_CACHE: gtsam/3rdparty/cache/osx
+    env:
+      BUILD_DIR: ${{ matrix.BUILD_DIR }}
+      VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
+      VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
+      VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
+      BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Cache dependencies
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+           ${{ matrix.BINARY_CACHE }}
+          key: osx-${{ hashFiles('.github/workflows/osx.yml') }}
+          restore-keys: osx-${{ hashFiles('.github/workflows/osx.yml') }}
+
+      - name: Install Dependencies
+        run: |
+          sudo xcode-select -switch /Applications/Xcode.app
+
+      - name: Install python packages
+        if: success()
+        run: |
+          pip3 install pyparsing
+
+      - name: Install ninja
+        if: success()
+        run: |
+          brew install ninja
+          ninja --version
+          whereis ninja        
+
+      - name: Init vcpkg
+        if: success()
+        run: |        
+          mkdir -p $BUILD_DIR
+          git -C $BUILD_DIR clone $VCPKG_LINK
+
+      - name: Vcpkg build & cmake config
+        if: success() 
+        run: |
+          export VCPKG_BINARY_SOURCES="clear;files,$PWD/$BINARY_CACHE,readwrite;"
+          mkdir -p $BINARY_CACHE
+          export CMAKE_GENERATOR=Ninja
+          cmake . -B build \
+              -DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake \
+              -DVCPKG_MANIFEST_DIR=$VCPKG_CONFIGS/manifest \
+              -DVCPKG_INSTALLED_DIR=$VCPKG_ROOT/installed \
+              -DVCPKG_OVERLAY_TRIPLETS=$VCPKG_CONFIGS/triplets \
+              -DVCPKG_TARGET_TRIPLET=x64-osx-release \
+              -DVCPKG_INSTALL_OPTIONS=--clean-after-build \
+              -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
+              -DGTSAM_ROT3_EXPMAP=ON \
+              -DGTSAM_POSE3_EXPMAP=ON \
+              -DGTSAM_BUILD_PYTHON=ON \
+              -DGTSAM_BUILD_TESTS=ON \
+              -DGTSAM_BUILD_UNSTABLE=ON \
+              -DGTSAM_USE_SYSTEM_EIGEN=ON \
+              -DGTSAM_USE_SYSTEM_METIS=ON \
+              -DGTSAM_SUPPORT_NESTED_DISSECTION=ON
+
+      - name: Save cache dependencies
+        id: cache-save
+        uses: actions/cache/save@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: osx-${{ hashFiles('.github/workflows/osx.yml') }}-${{ hashFiles('gtsam/3rdparty/vcpkg/cache/vcpkg/installed/vcpkg/updates/*') }}
+
+      - name: Cmake build
+        if: success()
+        run: |
+          cmake --build build --config Release -j 2
+
+      - name: Run tests
+        if: success() 
+        run: |
+          cmake --build build --target check -j 2
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
new file mode 100644
index 0000000000..22159986e0
--- /dev/null
+++ b/.github/workflows/windows.yml
@@ -0,0 +1,133 @@
+name: Windows
+on:
+  pull_request:
+    branches: 
+      - "*" # Pull request for all branches
+  schedule:
+    - cron:  '10 12 * * 0'
+
+# Every time you make a push to your PR, it cancel immediately the previous checks,
+# and start a new one. The other runner will be available more quickly to your PR.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: vcpkg-windows-${{ matrix.type }}
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:      
+        - type: x64
+          BUILD_DIR: gtsam\3rdparty\vcpkg\cache
+          VCPKG_ROOT: gtsam\3rdparty\vcpkg\cache\vcpkg
+          VCPKG_LINK: https://github.com/microsoft/vcpkg/
+          VCPKG_CONFIGS: gtsam\3rdparty\vcpkg
+          BINARY_CACHE: gtsam\3rdparty\vcpkg\cache\windows
+    env:
+      BUILD_DIR: ${{ matrix.BUILD_DIR }}
+      VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
+      VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
+      VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
+      BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Restore cache dependencies
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: windows-${{ hashFiles('.github/workflows/windows.yml') }}
+          restore-keys: windows-${{ hashFiles('.github/workflows/windows.yml') }}
+
+      - name: Setup msbuild
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x64
+
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.11' 
+
+      - name: Install python packages
+        if: success()
+        shell: cmd
+        run: |
+          :: choco install python311
+          :: where python3.11.exe
+          :: dir c:\python311
+          :: C:\ProgramData\Chocolatey\bin\python3.11.exe -m pip --version
+          :: C:\ProgramData\chocolatey\bin\python3.11.exe -m pip install pyparsing
+          python --version
+          python -m pip --version
+          python -m pip install pyparsing
+
+
+      - name: Install ninja
+        if: success()
+        shell: cmd
+        run: |
+          choco install ninja
+          ninja --version
+          where ninja
+
+      - name: Fix vcpkg
+        run: vcpkg.exe integrate remove
+
+      - name: Init vcpkg
+        if: success()
+        shell: cmd
+        run: |
+          mkdir -p %BUILD_DIR%
+          git -C %BUILD_DIR% clone %VCPKG_LINK%
+
+      - name: Vcpkg build & cmake config
+        if: success()
+        shell: cmd
+        run: |
+          set VCPKG_ROOT=${{ matrix.VCPKG_ROOT }}
+          set VCPKG_BINARY_SOURCES=clear;files,%CD%\%BINARY_CACHE%,readwrite;
+          mkdir %BINARY_CACHE%
+          set CMAKE_GENERATOR=Ninja
+          set CL=-openmp:experimental
+          cmake . -B build ^
+              -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake ^
+              -DVCPKG_MANIFEST_DIR=%VCPKG_CONFIGS%\manifest ^
+              -DVCPKG_INSTALLED_DIR=%VCPKG_ROOT%\installed ^
+              -DVCPKG_OVERLAY_TRIPLETS=%VCPKG_CONFIGS%\triplets ^
+              -DVCPKG_TARGET_TRIPLET=x64-windows ^
+              -DVCPKG_INSTALL_OPTIONS=--clean-after-build ^
+              -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON ^
+              -DGTSAM_ROT3_EXPMAP=ON ^
+              -DGTSAM_POSE3_EXPMAP=ON ^
+              -DGTSAM_BUILD_PYTHON=OFF ^
+              -DGTSAM_BUILD_TESTS=ON ^
+              -DGTSAM_BUILD_UNSTABLE=OFF ^
+              -DGTSAM_USE_SYSTEM_EIGEN=ON ^
+              -DGTSAM_USE_SYSTEM_METIS=ON ^
+              -DGTSAM_SUPPORT_NESTED_DISSECTION=ON
+
+      - name: Save cache dependencies
+        id: cache-save
+        uses: actions/cache/save@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: windows-${{ hashFiles('.github/workflows/windows.yml') }}-${{ hashFiles('gtsam\3rdparty\vcpkg\cache\vcpkg\installed\vcpkg\updates\*') }}
+
+      - name: Cmake build
+        if: success()
+        shell: cmd
+        run: |
+          cmake --build build --config Release -j 2
+
+      - name: Run tests
+        if: success() 
+        shell: cmd
+        run: |
+          :: Tests compile for windows and some of them fail. Need to be fixed and can remove this comments.
+          cmake --build build --target check -j 1
diff --git a/.gitignore b/.gitignore
index e3f7613fee..2db05da938 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,3 +19,4 @@ CMakeLists.txt.user*
 xcode/
 /Dockerfile
 /python/gtsam/notebooks/.ipynb_checkpoints/ellipses-checkpoint.ipynb
+gtsam/3rdparty/vcpkg/cache
diff --git a/cmake/HandleMetis.cmake b/cmake/HandleMetis.cmake
index 5cbec4ff58..10dbb53de5 100644
--- a/cmake/HandleMetis.cmake
+++ b/cmake/HandleMetis.cmake
@@ -13,10 +13,9 @@ option(GTSAM_USE_SYSTEM_METIS "Find and use system-installed libmetis. If 'off',
 if(GTSAM_USE_SYSTEM_METIS)
   # Debian package: libmetis-dev
 
-  find_path(METIS_INCLUDE_DIR metis.h REQUIRED)
-  find_library(METIS_LIBRARY metis REQUIRED)
+  find_package(metis CONFIG REQUIRED)
 
-  if(METIS_INCLUDE_DIR AND METIS_LIBRARY)
+  if(metis_FOUND)
     mark_as_advanced(METIS_INCLUDE_DIR)
     mark_as_advanced(METIS_LIBRARY)
 
@@ -27,7 +26,7 @@ if(GTSAM_USE_SYSTEM_METIS)
       $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
       $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
     )
-    target_link_libraries(metis-gtsam-if INTERFACE ${METIS_LIBRARY})
+    target_link_libraries(metis-gtsam-if INTERFACE ${METIS_LIBRARY} metis)
   endif()
 else()
   # Bundled version:
diff --git a/gtsam/3rdparty/GeographicLib/cmake/FindGeographicLib.cmake b/gtsam/3rdparty/GeographicLib/cmake/FindGeographicLib.cmake
index 58932cc70f..0d27617ee3 100644
--- a/gtsam/3rdparty/GeographicLib/cmake/FindGeographicLib.cmake
+++ b/gtsam/3rdparty/GeographicLib/cmake/FindGeographicLib.cmake
@@ -6,8 +6,11 @@
 #  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
 #  GeographicLib_LIBRARY_DIRS = /usr/local/lib
 
-find_library (GeographicLib_LIBRARIES Geographic
-  PATHS "${CMAKE_INSTALL_PREFIX}/../GeographicLib/lib")
+find_package(GeographicLib CONFIG)
+if(NOT GeographicLib_FOUND)
+  find_library (GeographicLib_LIBRARIES Geographic
+    PATHS "${CMAKE_INSTALL_PREFIX}/../GeographicLib/lib")
+endif()
 
 if (GeographicLib_LIBRARIES)
   get_filename_component (GeographicLib_LIBRARY_DIRS
@@ -32,9 +35,9 @@ if (GeographicLib_LIBRARIES)
   unset (_ROOT_DIR)
 endif ()
 
-include (FindPackageHandleStandardArgs)
-find_package_handle_standard_args (GeographicLib DEFAULT_MSG
-  GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES
-  GeographicLib_INCLUDE_DIRS)
+# include (FindPackageHandleStandardArgs)
+# find_package_handle_standard_args (GeographicLib DEFAULT_MSG
+#   GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES
+#   GeographicLib_INCLUDE_DIRS)
 mark_as_advanced (GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES
   GeographicLib_INCLUDE_DIRS)
diff --git a/gtsam/3rdparty/vcpkg/manifest/vcpkg.json b/gtsam/3rdparty/vcpkg/manifest/vcpkg.json
new file mode 100644
index 0000000000..fee414ea7b
--- /dev/null
+++ b/gtsam/3rdparty/vcpkg/manifest/vcpkg.json
@@ -0,0 +1,29 @@
+{
+  "name": "gtsam",
+  "description": "Georgia Tech Smoothing and Mapping Library.",
+  "homepage": "gtsam.org",
+  "dependencies": [
+    "boost-assign",
+    "boost-bimap",
+    "boost-chrono",
+    "boost-date-time",
+    "boost-filesystem",
+    "boost-format",
+    "boost-graph",
+    "boost-math",
+    "boost-program-options",
+    "boost-regex",
+    "boost-serialization",
+    "boost-system",
+    "boost-thread",
+    "boost-timer",
+    "eigen3",
+    "metis",
+    "tbb",
+    "geographiclib",
+    {
+      "name":"intel-mkl",
+      "platform": "!windows"
+    }
+  ]
+}
diff --git a/gtsam/3rdparty/vcpkg/triplets/.gitkeep b/gtsam/3rdparty/vcpkg/triplets/.gitkeep
new file mode 100644
index 0000000000..e69de29bb2