diff --git a/.gitignore b/.gitignore
index a997df4..2fb0405 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@ __pycache__
 *.pth*
 .autoenv*
 runs
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..dfa20f4
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,25 @@
+project(PointNet2)
+cmake_minimum_required(VERSION 3.5)
+
+find_package(CUDA REQUIRED)
+
+include_directories("${CMAKE_CURRENT_SOURCE_DIR}/utils/cinclude")
+cuda_include_directories("${CMAKE_CURRENT_SOURCE_DIR}/utils/cinclude")
+file(GLOB cuda_kernels_src "${CMAKE_CURRENT_SOURCE_DIR}/utils/csrc/*.cu")
+cuda_compile(cuda_kernels SHARED ${cuda_kernels_src} OPTIONS -O3)
+
+set(BUILD_CMD python "${CMAKE_CURRENT_SOURCE_DIR}/utils/build_ffi.py")
+file(GLOB wrapper_headers "${CMAKE_CURRENT_SOURCE_DIR}/utils/cinclude/*wrapper.h")
+file(GLOB wrapper_sources "${CMAKE_CURRENT_SOURCE_DIR}/utils/csrs/*.c")
+add_custom_command(OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/utils/_ext/__ext.so"
+		   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/utils
+		   COMMAND ${BUILD_CMD} --build --objs ${cuda_kernels}
+		   DEPENDS ${cuda_kernels}
+		   DEPENDS ${wrapper_headers}
+		   DEPENDS ${wrapper_sources}
+		   VERBATIM)
+
+add_custom_target(ext ALL
+		  DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/utils/_ext/__ext.so")
+
+set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${CMAKE_CURRENT_SOURCE_DIR}/utils/_ext")
diff --git a/README.rst b/README.rst
index 64d7a86..7571511 100644
--- a/README.rst
+++ b/README.rst
@@ -1,4 +1,3 @@
-=================
 Pointnet2 PyTorch
 =================
 
@@ -6,15 +5,12 @@ Partial implemention of `Pointnet2 <https://github.com/charlesq34/pointnet2>`_ w
 
 The custom ops used by Pointnet2 are currently **ONLY** supported on the GPU using CUDA.
 
----------------------
 Building CUDA kernels
 ---------------------
 
-- ``cd utils``
 - ``mkdir build && cd build``
 - ``cmake .. && make``
 
-------------------
 Exampling training
 ------------------
 
diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
deleted file mode 100644
index 067d46e..0000000
--- a/utils/CMakeLists.txt
+++ /dev/null
@@ -1,22 +0,0 @@
-project(PointNet2)
-cmake_minimum_required(VERSION 3.5)
-
-find_package(CUDA REQUIRED)
-
-include_directories("${CMAKE_SOURCE_DIR}/cinclude")
-cuda_include_directories("${CMAKE_SOURCE_DIR}/cinclude")
-file(GLOB cuda_kernels_src "csrc/*.cu")
-cuda_compile(cuda_kernels SHARED ${cuda_kernels_src} OPTIONS -O3)
-
-file(GLOB wrapper_headers "cinclude/*wrapper.h")
-file(GLOB wrapper_sources "csrs/*.c")
-add_custom_command(OUTPUT "${CMAKE_SOURCE_DIR}/_ext/__ext.so"
-		   WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		   COMMAND python "${CMAKE_SOURCE_DIR}/build_ffi.py" ${cuda_kernels}
-		   DEPENDS ${cuda_kernels}
-		   DEPENDS ${wrapper_headers}
-		   DEPENDS ${wrapper_sources}
-		   VERBATIM)
-
-add_custom_target(ext ALL
-	          DEPENDS "${CMAKE_SOURCE_DIR}/_ext/__ext.so")
diff --git a/utils/build_ffi.py b/utils/build_ffi.py
index 2983d81..983378c 100644
--- a/utils/build_ffi.py
+++ b/utils/build_ffi.py
@@ -1,24 +1,50 @@
 import glob
 import torch
-from os import path
+import os.path as osp
 from torch.utils.ffi import create_extension
-import sys
+import sys, argparse, shutil
 
-base_dir = path.dirname(path.abspath(__file__))
-extra_objects = sys.argv[1:]
-extra_objects += [a for a in glob.glob('/usr/local/cuda/lib64/*.a')]
+base_dir = osp.dirname(osp.abspath(__file__))
 
-ffi = create_extension(
-    '_ext',
-    headers=[a for a in glob.glob("cinclude/*_wrapper.h")],
-    sources=[a for a in glob.glob("csrc/*.c")],
-    define_macros=[('WITH_CUDA', None)],
-    relative_to=__file__,
-    with_cuda=True,
-    extra_objects=extra_objects,
-    include_dirs=[path.join(base_dir, 'cinclude')],
-    verbose=False)
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description="Arguments for building pointnet2 ffi extension")
+    parser.add_argument("--objs", nargs="*")
+    clean_arg = parser.add_mutually_exclusive_group()
+    clean_arg.add_argument("--build", dest='build', action="store_true")
+    clean_arg.add_argument("--clean", dest='clean', action="store_true")
+    parser.set_defaults(build=False, clean=False)
+
+    args = parser.parse_args()
+    assert args.build or args.clean
+
+    return args
+
+
+def build(args):
+    extra_objects = args.objs
+    extra_objects += [a for a in glob.glob('/usr/local/cuda/lib64/*.a')]
+
+    ffi = create_extension(
+        '_ext',
+        headers=[a for a in glob.glob("cinclude/*_wrapper.h")],
+        sources=[a for a in glob.glob("csrc/*.c")],
+        define_macros=[('WITH_CUDA', None)],
+        relative_to=__file__,
+        with_cuda=True,
+        extra_objects=extra_objects,
+        include_dirs=[osp.join(base_dir, 'cinclude')],
+        verbose=False,
+        package=False)
+    ffi.build()
+
+def clean(args):
+    shutil.rmtree(osp.join(base_dir, "_ext"))
 
 if __name__ == "__main__":
-    assert torch.cuda.is_available(), "Needs CUDA!"
-    ffi.build()
+    args = parse_args()
+    if args.clean:
+        clean(args)
+    else:
+        build(args)