diff --git a/.cproject b/.cproject
index 35f7946a4..0e31dd254 100644
--- a/.cproject
+++ b/.cproject
@@ -1617,6 +1617,37 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="cmake" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>cmake</buildCommand>
+				<buildArguments>..</buildArguments>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="all" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2 VERBOSE=1</buildArguments>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="all j5" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5 VERBOSE=1</buildArguments>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d98b500b5..e3a754810 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,6 +21,11 @@ set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
 
 # Configurable Options
 
+
+# Pull in tests
+ENABLE_TESTING()
+INCLUDE(Dart)
+
 # General build settings
 include_directories(gtsam CppUnitLite)
 
@@ -31,10 +36,10 @@ add_subdirectory(gtsam)
 add_subdirectory(CppUnitLite)
 
 # Build Tests
-add_subdirectory(tests)
+#add_subdirectory(tests)
 
 # Build wrap
-add_subdirectory(wrap)
+#add_subdirectory(wrap)
 
 # Build examples
-add_subdirectory(examples)
\ No newline at end of file
+#add_subdirectory(examples)
\ No newline at end of file
diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt
new file mode 100644
index 000000000..6fba22eac
--- /dev/null
+++ b/CppUnitLite/CMakeLists.txt
@@ -0,0 +1,9 @@
+# Build/install CppUnitLite
+
+FILE(GLOB cppunitlite_headers "*.h")
+FILE(GLOB cppunitlite_src "*.cpp")
+
+ADD_LIBRARY(CppUnitLite STATIC ${cppunitlite_src})
+
+install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite)
+install(TARGETS CppUnitLite ARCHIVE DESTINATION lib)
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 1e40dbb68..a47b0c858 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -1,6 +1,3 @@
-# build 3rd party libraries
-add_subdirectory(3rdparty)
-
 # Build full gtsam library as a single library
 # and also build tests 
 set (gtsam_subdirs 
@@ -11,8 +8,43 @@ set (gtsam_subdirs
     nonlinear 
     slam)
 
+# Include CCOLAMD source directly into gtsam
+include_directories(
+  3rdparty/UFconfig 
+  3rdparty/CCOLAMD/Include
+  ${CMAKE_SOURCE_DIR})
+ 
+set (ccolamd_srcs 
+ 3rdparty/CCOLAMD/Source/ccolamd.c 
+ 3rdparty/CCOLAMD/Source/ccolamd_global.c
+ 3rdparty/UFconfig/UFconfig.c) 
+ 
+set(gtsam_srcs ${ccolamd_srcs})
+ 
+add_library(ccolamd STATIC ${ccolamd_srcs})
+
+# Get all sources and headers from each 
 foreach(subdir ${gtsam_subdirs})
-    file(GLOB sub_gtsam_srcs ${subdir} "*.cpp")
-    list(APPEND gtsam_srcs sub_gtsam_srcs)
+    message(STATUS "Building ${subdir}")
+    file(GLOB sub_gtsam_srcs "${subdir}/*.cpp")
+    list(APPEND gtsam_srcs ${sub_gtsam_srcs})
+    
+    # Make a convenience library
+    add_library(${subdir} STATIC ${sub_gtsam_srcs})
+    list(APPEND inner_libs ${subdir})
+    
+    # Build tests
+    file(GLOB tests_srcs "${subdir}/tests/test*.cpp")
+    foreach(test_src ${tests_srcs})
+        get_filename_component(test_base ${test_src} NAME_WE)
+        set( test_bin ${EXECUTABLE_OUTPUT_PATH}/${subdir}/${test_base} )
+        add_executable(${test_bin} ${test_src})
+        #add_test(${subdir}/${test_base} ${subdir}/${test_base})
+        #target_link_libraries(${subdir}/${test_base} ${inner_libs} CppUnitLite ccolamd)
+        #add_custom_target(${test_base}.run ${EXECUTABLE_OUTPUT_PATH}/${test_base} ${ARGN})
+    endforeach(test_src)
 endforeach(subdir)
 
+# build a single shared library
+add_library(gtsam SHARED ${gtsam_srcs})
+