diff --git a/CMakeLists.txt b/CMakeLists.txt
index 29834d1..117e86b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -583,3 +583,15 @@
 
 ADD_SUBDIRECTORY(internal/ceres)
 ADD_SUBDIRECTORY(examples)
+
+OPTION(BUILD_DOCUMENTATION
+       "Build User's Guide (pdf)"
+       OFF)
+
+IF (${BUILD_DOCUMENTATION})
+  MESSAGE("-- Documentation building is enabled")
+
+  # Generate the User's Guide (pdf).
+  # The corresponding target is UserGuide, but is included in ALL.
+  ADD_SUBDIRECTORY(docs)
+ENDIF (${BUILD_DOCUMENTATION})
diff --git a/docs/CMakeLists.txt b/docs/CMakeLists.txt
new file mode 100644
index 0000000..cd98662
--- /dev/null
+++ b/docs/CMakeLists.txt
@@ -0,0 +1,63 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# 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.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# 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 OWNER 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.
+#
+# Author: arnaudgelas@gmail.com (Arnaud Gelas)
+
+FIND_PROGRAM(PYGMENTIZE NAMES pygmentize
+    PATHS
+        /usr/bin
+        /usr/local/bin
+        /opt/bin
+        /opt/local/bin)
+
+IF (${PYGMENTIZE} MATCHES PYGMENTIZE-NOTFOUND)
+  MESSAGE(SEND_ERROR "Pygmentize is not installed")
+ENDIF (${PYGMENTIZE} MATCHES PYGMENTIZE-NOTFOUND)
+
+FIND_PACKAGE(LATEX REQUIRED)
+
+FILE(DOWNLOAD http://minted.googlecode.com/files/minted.sty
+     ${CMAKE_BINARY_DIR}/docs/minted.sty
+     SHOW_PROGRESS)
+
+ADD_CUSTOM_TARGET(UserGuide ALL
+    COMMAND ${CMAKE_COMMAND} -E copy_directory
+        ${CMAKE_SOURCE_DIR}/docs ${CMAKE_BINARY_DIR}/docs
+    COMMAND ${PDFLATEX_COMPILER}
+        -shell-escape ${CMAKE_BINARY_DIR}/docs/ceres-solver.tex
+        -output-directory ${CMAKE_BINARY_DIR}/docs
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/docs
+    COMMAND ${BIBTEX_COMPILER} ${CMAKE_BINARY_DIR}/docs/ceres-solver.aux
+    COMMAND ${PDFLATEX_COMPILER}
+        -shell-escape ${CMAKE_BINARY_DIR}/docs/ceres-solver.tex
+        -output-directory ${CMAKE_BINARY_DIR}/docs
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/docs
+    COMMAND ${PDFLATEX_COMPILER}
+        -shell-escape ${CMAKE_BINARY_DIR}/docs/ceres-solver.tex
+        -output-directory ${CMAKE_BINARY_DIR}/docs
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/docs)