diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake
index d4bff5537..6f378f77d 100644
--- a/cmake/GtsamCythonWrap.cmake
+++ b/cmake/GtsamCythonWrap.cmake
@@ -84,14 +84,18 @@ endfunction()
 #    - output_dir:    The output directory
 #    - include_dirs:  Directories to include when executing cython
 #    - libs:          Libraries to link with
-#    - dependencies:  Other target dependencies
-function(cythonize target pyx_file output_lib_we output_dir include_dirs libs dependencies)
+#    - interface_header: For dependency. Any update in interface header will re-trigger cythonize
+function(cythonize target pyx_file output_lib_we output_dir include_dirs libs interface_header dependencies)
   get_filename_component(pyx_path "${pyx_file}" DIRECTORY)
   get_filename_component(pyx_name "${pyx_file}" NAME_WE)
   set(generated_cpp "${output_dir}/${pyx_name}.cpp")
 
   set_up_required_cython_packages()
   pyx_to_cpp(${target}_pyx2cpp ${pyx_file} ${generated_cpp} "${include_dirs}")
+
+  # Late dependency injection, to make sure this gets called whenever the interface header is updated
+  # See: https://stackoverflow.com/questions/40032593/cmake-does-not-rebuild-dependent-after-prerequisite-changes
+  add_custom_command(OUTPUT ${generated_cpp} DEPENDS ${interface_header} APPEND)
   if (NOT "${dependencies}" STREQUAL "")
     add_dependencies(${target}_pyx2cpp "${dependencies}")
   endif()
@@ -130,8 +134,8 @@ function(wrap_library_cython interface_header generated_files_path extra_imports
 
   message(STATUS "Cythonize and build ${module_name}.pyx")
   get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
-  cythonize(${module_name}_cython ${generated_pyx} ${module_name}
-    ${generated_files_path} "${include_dirs}" "${libs}" cython_wrap_${module_name}_pyx)
+  cythonize(cythonize_${module_name} ${generated_pyx} ${module_name}
+    ${generated_files_path} "${include_dirs}" "${libs}" ${interface_header} cython_wrap_${module_name}_pyx)
 
   # distclean
   add_custom_target(wrap_${module_name}_cython_distclean
diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt
index c264b8f37..bc21b91d1 100644
--- a/cython/CMakeLists.txt
+++ b/cython/CMakeLists.txt
@@ -24,7 +24,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX)
                                     "from gtsam.gtsam cimport *"                  # extra imports
                                     "${GTSAM_CYTHON_INSTALL_PATH}/gtsam" # install path
                                     gtsam_unstable  # library to link with
-                                    "gtsam_unstable;gtsam_unstable_header;gtsam_cython"  # dependencies to be built before wrapping
+                                    "gtsam_unstable;gtsam_unstable_header;cythonize_gtsam"  # dependencies to be built before wrapping
                                     )
     # for some reasons cython gtsam_unstable can't find gtsam/gtsam.pxd without doing this
     file(WRITE ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py "")
diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt
index 5fa9e7cc0..54b7de9aa 100644
--- a/cython/gtsam_eigency/CMakeLists.txt
+++ b/cython/gtsam_eigency/CMakeLists.txt
@@ -19,9 +19,9 @@ message(STATUS "Cythonize and build eigency")
 # a part of the gtsam_eigency package and generate the function call import_gtsam_igency__conversions()
 # in conversions_api.h correctly!!!
 cythonize(cythonize_eigency_conversions "../gtsam_eigency/conversions.pyx" "conversions"
-  "${OUTPUT_DIR}" "${EIGENCY_INCLUDE_DIR}" "" "")
+  "${OUTPUT_DIR}" "${EIGENCY_INCLUDE_DIR}" "" "" "")
 cythonize(cythonize_eigency_core "../gtsam_eigency/core.pyx" "core"
-  ${OUTPUT_DIR} "${EIGENCY_INCLUDE_DIR}" "" "")
+  ${OUTPUT_DIR} "${EIGENCY_INCLUDE_DIR}" "" "" "")
 add_dependencies(cythonize_eigency_core cythonize_eigency_conversions)
 add_custom_target(cythonize_eigency)
 add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core)