diff --git a/configure.ac b/configure.ac
index 9707b1d97..a70938a7e 100644
--- a/configure.ac
+++ b/configure.ac
@@ -19,34 +19,6 @@ AC_CONFIG_SRCDIR([examples/SimpleRotation.cpp])
 AC_CONFIG_SRCDIR([gtsam/3rdparty/Makefile.am])
 AC_CONFIG_SRCDIR([gtsam/3rdparty/ccolamd/Makefile.am])
 
-# pull in all subdirectories of Eigen - FIXME: find a better way of handling this
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Cholesky/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/arch/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/arch/Default/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/arch/NEON/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/arch/SSE/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/products/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Core/util/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Eigen2Support/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Eigen2Support/Geometry/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Eigenvalues/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Geometry/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Geometry/arch/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Householder/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/QR/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/SVD/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Jacobi/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/misc/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/Sparse/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/LU/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/LU/arch/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/plugins/Makefile.am])
-AC_CONFIG_SRCDIR([gtsam/3rdparty/Eigen/src/StlSupport/Makefile.am])
-
 # Check for OS
 AC_CANONICAL_HOST    # needs to be called at some point earlier
 AM_CONDITIONAL([DARWIN], [case $host_os in darwin*) true;; *) false;; esac]) 
@@ -143,32 +115,6 @@ AX_BOOST_BASE([1.40])
 #AC_SUBST([boost])
 
 AC_CONFIG_FILES([CppUnitLite/Makefile \
-gtsam/3rdparty/Eigen/src/Cholesky/Makefile \
-gtsam/3rdparty/Eigen/src/Core/Makefile \
-gtsam/3rdparty/Eigen/src/Core/arch/Makefile \
-gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/Makefile \
-gtsam/3rdparty/Eigen/src/Core/arch/Default/Makefile \
-gtsam/3rdparty/Eigen/src/Core/arch/NEON/Makefile \
-gtsam/3rdparty/Eigen/src/Core/arch/SSE/Makefile \
-gtsam/3rdparty/Eigen/src/Core/products/Makefile \
-gtsam/3rdparty/Eigen/src/Core/util/Makefile \
-gtsam/3rdparty/Eigen/src/Eigenvalues/Makefile \
-gtsam/3rdparty/Eigen/src/Geometry/Makefile \
-gtsam/3rdparty/Eigen/src/Geometry/arch/Makefile \
-gtsam/3rdparty/Eigen/src/Householder/Makefile \
-gtsam/3rdparty/Eigen/src/QR/Makefile \
-gtsam/3rdparty/Eigen/src/SVD/Makefile \
-gtsam/3rdparty/Eigen/src/Jacobi/Makefile \
-gtsam/3rdparty/Eigen/src/misc/Makefile \
-gtsam/3rdparty/Eigen/src/Sparse/Makefile \
-gtsam/3rdparty/Eigen/src/LU/Makefile \
-gtsam/3rdparty/Eigen/src/LU/arch/Makefile \
-gtsam/3rdparty/Eigen/src/plugins/Makefile \
-gtsam/3rdparty/Eigen/src/StlSupport/Makefile \
-gtsam/3rdparty/Eigen/src/Eigen2Support/Makefile \
-gtsam/3rdparty/Eigen/src/Eigen2Support/Geometry/Makefile \
-gtsam/3rdparty/Eigen/src/Makefile \
-gtsam/3rdparty/Eigen/Makefile \
 gtsam/3rdparty/ccolamd/Makefile \
 gtsam/3rdparty/Makefile \
 gtsam/base/Makefile \
diff --git a/gtsam/3rdparty/Eigen/Makefile.am b/gtsam/3rdparty/Eigen/Makefile.am
deleted file mode 100644
index d99a72e02..000000000
--- a/gtsam/3rdparty/Eigen/Makefile.am
+++ /dev/null
@@ -1,20 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = src
-
-# And the corresponding libraries produced
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-# add primary headers
-headers  = Array Cholesky Core Dense Eigen Eigen2Support Eigenvalues 
-headers += Geometry Householder Jacobi LeastSquares LU QR QtAlignedMalloc
-headers += Sparse StdDeque StdList StdVector SVD
-
-Eigendir = $(pkgincludedir)/3rdparty/Eigen
-Eigen_includedir = $(includedir)/gtsam/3rdparty/Eigen
-Eigen_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Cholesky/Makefile.am b/gtsam/3rdparty/Eigen/src/Cholesky/Makefile.am
deleted file mode 100644
index 83d37ea4a..000000000
--- a/gtsam/3rdparty/Eigen/src/Cholesky/Makefile.am
+++ /dev/null
@@ -1,21 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-# add headers from src folder for Eigen
-#Cholesky:
-headers  = LDLT.h
-headers += LLT.h
-
-Choleskydir = $(pkgincludedir)/3rdparty/Eigen/src/Cholesky
-Cholesky_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Cholesky
-Cholesky_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/Makefile.am
deleted file mode 100644
index bed40a038..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/Makefile.am
+++ /dev/null
@@ -1,78 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = arch products util
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-# add headers from src folder for Eigen
-headers =
-
-#Core:
-headers += ArrayBase.h
-headers += Array.h
-headers += ArrayWrapper.h
-headers += Assign.h
-headers += BandMatrix.h
-headers += Block.h
-headers += BooleanRedux.h
-headers += CommaInitializer.h
-headers += CwiseBinaryOp.h
-headers += CwiseNullaryOp.h
-headers += CwiseUnaryOp.h
-headers += CwiseUnaryView.h
-headers += DenseBase.h
-headers += DenseCoeffsBase.h
-headers += DenseStorage.h
-headers += Diagonal.h
-headers += DiagonalMatrix.h
-headers += DiagonalProduct.h
-headers += Dot.h
-headers += EigenBase.h
-headers += Flagged.h
-headers += ForceAlignedAccess.h
-headers += Functors.h
-headers += Fuzzy.h
-headers += GenericPacketMath.h
-headers += GlobalFunctions.h
-headers += IO.h
-headers += MapBase.h
-headers += Map.h
-headers += MathFunctions.h
-headers += MatrixBase.h
-headers += Matrix.h
-headers += NestByValue.h
-headers += NoAlias.h
-headers += NumTraits.h
-headers += PermutationMatrix.h
-headers += PlainObjectBase.h
-headers += ProductBase.h
-headers += Product.h
-headers += Random.h
-headers += Redux.h
-headers += Replicate.h
-headers += ReturnByValue.h
-headers += Reverse.h
-headers += Select.h
-headers += SelfAdjointView.h
-headers += SelfCwiseBinaryOp.h
-headers += SolveTriangular.h
-headers += StableNorm.h
-headers += Stride.h
-headers += Swap.h
-headers += Transpose.h
-headers += Transpositions.h
-headers += TriangularMatrix.h
-headers += VectorBlock.h
-headers += VectorwiseOp.h
-headers += Visitor.h
-
-Coredir = $(pkgincludedir)/3rdparty/Eigen/src/Core
-Core_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Core
-Core_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/CMakeLists.txt
deleted file mode 100644
index 9f8d2e9c4..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_AltiVec_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_AltiVec_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/AltiVec COMPONENT Devel
-)
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/Makefile.am
deleted file mode 100644
index 2fea6bc92..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/AltiVec/Makefile.am
+++ /dev/null
@@ -1,23 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-
-# Core/arch/AltiVec:
-headers += Complex.h
-headers += PacketMath.h
-
-AltiVecdir = $(pkgincludedir)/3rdparty/Eigen/src/Core/arch/AltiVec
-AltiVec_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Core/arch/AltiVec
-AltiVec_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/Default/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Core/arch/Default/CMakeLists.txt
deleted file mode 100644
index 339c091d1..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/Default/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_Default_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_Default_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/Default COMPONENT Devel
-)
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/Default/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/arch/Default/Makefile.am
deleted file mode 100644
index d4d44be51..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/Default/Makefile.am
+++ /dev/null
@@ -1,21 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS =
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  =  
-
-# Core/arch/Default:
-headers += Settings.h
-
-Defaultdir = $(pkgincludedir)/3rdparty/Eigen/src/Core/arch/Default
-Default_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Core/arch/Default
-Default_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/arch/Makefile.am
deleted file mode 100644
index c831a22bd..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/Makefile.am
+++ /dev/null
@@ -1,4 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = AltiVec Default NEON SSE
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/NEON/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Core/arch/NEON/CMakeLists.txt
deleted file mode 100644
index fd4d4af50..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/NEON/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_NEON_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_NEON_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/NEON COMPONENT Devel
-)
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/NEON/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/arch/NEON/Makefile.am
deleted file mode 100644
index 950e2f98c..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/NEON/Makefile.am
+++ /dev/null
@@ -1,22 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  =
-
-# Core/arch/NEON:
-headers += Complex.h
-headers += PacketMath.h
-
-NEONdir = $(pkgincludedir)/3rdparty/Eigen/src/Core/arch/NEON
-NEON_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Core/arch/NEON
-NEON_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/SSE/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Core/arch/SSE/CMakeLists.txt
deleted file mode 100644
index 46ea7cc62..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/SSE/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_SSE_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_SSE_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/SSE COMPONENT Devel
-)
diff --git a/gtsam/3rdparty/Eigen/src/Core/arch/SSE/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/arch/SSE/Makefile.am
deleted file mode 100644
index 7210a137d..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/arch/SSE/Makefile.am
+++ /dev/null
@@ -1,22 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  =  
-# Core/arch/SSE:
-headers += Complex.h
-headers += MathFunctions.h
-headers += PacketMath.h
-
-SSEdir = $(pkgincludedir)/3rdparty/Eigen/src/Core/arch/SSE
-SSE_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Core/arch/SSE
-SSE_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/products/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Core/products/CMakeLists.txt
deleted file mode 100644
index 21fc94ae3..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/products/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_Product_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_Product_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/products COMPONENT Devel
-  )
diff --git a/gtsam/3rdparty/Eigen/src/Core/products/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/products/Makefile.am
deleted file mode 100644
index 33bf76927..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/products/Makefile.am
+++ /dev/null
@@ -1,34 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  =  
-
-# Core/products:
-headers += CoeffBasedProduct.h
-headers += GeneralBlockPanelKernel.h
-headers += GeneralMatrixMatrix.h
-headers += GeneralMatrixMatrixTriangular.h
-headers += GeneralMatrixVector.h
-headers += Parallelizer.h
-headers += SelfadjointMatrixMatrix.h
-headers += SelfadjointMatrixVector.h
-headers += SelfadjointProduct.h
-headers += SelfadjointRank2Update.h
-headers += TriangularMatrixMatrix.h
-headers += TriangularMatrixVector.h
-headers += TriangularSolverMatrix.h
-headers += TriangularSolverVector.h
-
-productsdir = $(pkgincludedir)/3rdparty/Eigen/src/Core/products
-products_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Core/products
-products_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Core/util/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Core/util/CMakeLists.txt
deleted file mode 100644
index a1e2e521f..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/util/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_util_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_Core_util_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/util COMPONENT Devel
-  )
diff --git a/gtsam/3rdparty/Eigen/src/Core/util/Makefile.am b/gtsam/3rdparty/Eigen/src/Core/util/Makefile.am
deleted file mode 100644
index 9fb84ed8b..000000000
--- a/gtsam/3rdparty/Eigen/src/Core/util/Makefile.am
+++ /dev/null
@@ -1,30 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# Core/util:
-headers += BlasUtil.h
-headers += Constants.h
-headers += DisableStupidWarnings.h
-headers += ForwardDeclarations.h
-headers += Macros.h
-headers += Memory.h
-headers += Meta.h
-headers += ReenableStupidWarnings.h
-headers += StaticAssert.h
-headers += XprHelper.h
-
-utildir = $(pkgincludedir)/3rdparty/Eigen/src/Core/util
-util_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Core/util
-util_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Eigen2Support/Geometry/Makefile.am b/gtsam/3rdparty/Eigen/src/Eigen2Support/Geometry/Makefile.am
deleted file mode 100644
index 2e351175e..000000000
--- a/gtsam/3rdparty/Eigen/src/Eigen2Support/Geometry/Makefile.am
+++ /dev/null
@@ -1,31 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  =
-
-# Eigen2SupportGeometry:
-headers += AlignedBox.h
-headers += All.h
-headers += AngleAxis.h
-headers += Hyperplane.h
-headers += ParametrizedLine.h
-headers += Quaternion.h
-headers += Rotation2D.h
-headers += RotationBase.h
-headers += Scaling.h
-headers += Transform.h
-headers += Translation.h
-
-Geometrydir = $(pkgincludedir)/3rdparty/Eigen/src/Eigen2Support/Geometry
-Geometry_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Eigen2Support/Geometry
-Geometry_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Eigen2Support/Makefile.am b/gtsam/3rdparty/Eigen/src/Eigen2Support/Makefile.am
deleted file mode 100644
index fdef9f4ec..000000000
--- a/gtsam/3rdparty/Eigen/src/Eigen2Support/Makefile.am
+++ /dev/null
@@ -1,35 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = Geometry
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# Eigen2Support:
-headers += Block.h
-headers += Cwise.h
-headers += CwiseOperators.h
-headers += Lazy.h
-headers += LeastSquares.h
-headers += LU.h
-headers += Macros.h
-headers += MathFunctions.h
-headers += Memory.h
-headers += Meta.h
-headers += Minor.h
-headers += QR.h
-headers += SVD.h
-headers += TriangularSolver.h
-headers += VectorBlock.h
-
-Eigen2Supportdir = $(pkgincludedir)/3rdparty/Eigen/src/Eigen2Support
-Eigen2Support_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Eigen2Support
-Eigen2Support_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Eigenvalues/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Eigenvalues/CMakeLists.txt
deleted file mode 100644
index 193e02685..000000000
--- a/gtsam/3rdparty/Eigen/src/Eigenvalues/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_EIGENVALUES_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_EIGENVALUES_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigenvalues COMPONENT Devel
-  )
diff --git a/gtsam/3rdparty/Eigen/src/Eigenvalues/Makefile.am b/gtsam/3rdparty/Eigen/src/Eigenvalues/Makefile.am
deleted file mode 100644
index 2f86a7c5e..000000000
--- a/gtsam/3rdparty/Eigen/src/Eigenvalues/Makefile.am
+++ /dev/null
@@ -1,30 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# Eigenvalues:
-headers += ComplexEigenSolver.h
-headers += ComplexSchur.h
-headers += EigenSolver.h
-headers += EigenvaluesCommon.h
-headers += GeneralizedSelfAdjointEigenSolver.h
-headers += HessenbergDecomposition.h
-headers += MatrixBaseEigenvalues.h
-headers += RealSchur.h
-headers += SelfAdjointEigenSolver.h
-headers += Tridiagonalization.h
-
-Eigenvaluesdir = $(pkgincludedir)/3rdparty/Eigen/src/Eigenvalues
-Eigenvalues_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Eigenvalues
-Eigenvalues_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Geometry/CMakeLists.txt b/gtsam/3rdparty/Eigen/src/Geometry/CMakeLists.txt
deleted file mode 100644
index f8f728b84..000000000
--- a/gtsam/3rdparty/Eigen/src/Geometry/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-FILE(GLOB Eigen_Geometry_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Geometry_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Geometry COMPONENT Devel
-  )
-
-ADD_SUBDIRECTORY(arch)
diff --git a/gtsam/3rdparty/Eigen/src/Geometry/Makefile.am b/gtsam/3rdparty/Eigen/src/Geometry/Makefile.am
deleted file mode 100644
index d1df4a34d..000000000
--- a/gtsam/3rdparty/Eigen/src/Geometry/Makefile.am
+++ /dev/null
@@ -1,34 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = arch
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# Geometry:
-headers += AlignedBox.h
-headers += AngleAxis.h
-headers += EulerAngles.h
-headers += Homogeneous.h
-headers += Hyperplane.h
-headers += OrthoMethods.h
-headers += ParametrizedLine.h
-headers += Quaternion.h
-headers += Rotation2D.h
-headers += RotationBase.h
-headers += Scaling.h
-headers += Transform.h
-headers += Translation.h
-headers += Umeyama.h
-
-Geometrydir = $(pkgincludedir)/3rdparty/Eigen/src/Geometry
-Geometry_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Geometry
-Geometry_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Geometry/arch/Makefile.am b/gtsam/3rdparty/Eigen/src/Geometry/arch/Makefile.am
deleted file mode 100644
index 8007c3f32..000000000
--- a/gtsam/3rdparty/Eigen/src/Geometry/arch/Makefile.am
+++ /dev/null
@@ -1,22 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-# add primary headers
-headers  = 
-
-# Geometry/arch:
-headers += Geometry_SSE.h
-
-archdir = $(pkgincludedir)/3rdparty/Eigen/src/Geometry/arch
-arch_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Geometry/arch
-arch_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Householder/Makefile.am b/gtsam/3rdparty/Eigen/src/Householder/Makefile.am
deleted file mode 100644
index 6b475d6dc..000000000
--- a/gtsam/3rdparty/Eigen/src/Householder/Makefile.am
+++ /dev/null
@@ -1,23 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# Householder:
-headers += BlockHouseholder.h
-headers += Householder.h
-headers += HouseholderSequence.h
-
-Householderdir = $(pkgincludedir)/3rdparty/Eigen/src/Householder
-Householder_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Householder
-Householder_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Jacobi/Makefile.am b/gtsam/3rdparty/Eigen/src/Jacobi/Makefile.am
deleted file mode 100644
index e5cdd5ea5..000000000
--- a/gtsam/3rdparty/Eigen/src/Jacobi/Makefile.am
+++ /dev/null
@@ -1,20 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-# add primary headers
-# Jacobi
-headers = Jacobi.h
-
-Jacobidir = $(pkgincludedir)/3rdparty/Eigen/src/Jacobi
-Jacobi_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Jacobi
-Jacobi_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/LU/Makefile.am b/gtsam/3rdparty/Eigen/src/LU/Makefile.am
deleted file mode 100644
index 683fe4c65..000000000
--- a/gtsam/3rdparty/Eigen/src/LU/Makefile.am
+++ /dev/null
@@ -1,24 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = arch
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# LU:
-headers += Determinant.h
-headers += FullPivLU.h
-headers += Inverse.h
-headers += PartialPivLU.h
-
-LUdir = $(pkgincludedir)/3rdparty/Eigen/src/LU
-LU_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/LU
-LU_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/LU/arch/Makefile.am b/gtsam/3rdparty/Eigen/src/LU/arch/Makefile.am
deleted file mode 100644
index d94a1bb74..000000000
--- a/gtsam/3rdparty/Eigen/src/LU/arch/Makefile.am
+++ /dev/null
@@ -1,19 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-# LU/arch:
-headers = Inverse_SSE.h
-
-archdir = $(pkgincludedir)/3rdparty/Eigen/src/LU/arch
-arch_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/LU/arch
-arch_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Makefile.am b/gtsam/3rdparty/Eigen/src/Makefile.am
deleted file mode 100644
index 6353a363e..000000000
--- a/gtsam/3rdparty/Eigen/src/Makefile.am
+++ /dev/null
@@ -1,9 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS  =  Cholesky Core  Eigenvalues 
-SUBDIRS += Geometry
-SUBDIRS +=  Jacobi misc Sparse
-SUBDIRS +=  LU plugins StlSupport
-SUBDIRS +=  Householder QR SVD 
-SUBDIRS +=  Eigen2Support 
diff --git a/gtsam/3rdparty/Eigen/src/QR/Makefile.am b/gtsam/3rdparty/Eigen/src/QR/Makefile.am
deleted file mode 100644
index eebc3de6f..000000000
--- a/gtsam/3rdparty/Eigen/src/QR/Makefile.am
+++ /dev/null
@@ -1,23 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# QR:
-headers += ColPivHouseholderQR.h
-headers += FullPivHouseholderQR.h
-headers += HouseholderQR.h
-
-QRdir = $(pkgincludedir)/3rdparty/Eigen/src/QR
-QR_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/QR
-QR_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/SVD/Makefile.am b/gtsam/3rdparty/Eigen/src/SVD/Makefile.am
deleted file mode 100644
index 01f1c5f49..000000000
--- a/gtsam/3rdparty/Eigen/src/SVD/Makefile.am
+++ /dev/null
@@ -1,22 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
- #SVD:
-headers += JacobiSVD.h
-headers += UpperBidiagonalization.h
-
-SVDdir = $(pkgincludedir)/3rdparty/Eigen/src/SVD
-SVD_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/SVD
-SVD_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/Sparse/Makefile.am b/gtsam/3rdparty/Eigen/src/Sparse/Makefile.am
deleted file mode 100644
index bd5f9d9e3..000000000
--- a/gtsam/3rdparty/Eigen/src/Sparse/Makefile.am
+++ /dev/null
@@ -1,45 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# Sparse:
-headers += AmbiVector.h
-headers += CompressedStorage.h
-headers += CoreIterators.h
-headers += DynamicSparseMatrix.h
-headers += MappedSparseMatrix.h
-headers += SparseAssign.h
-headers += SparseBlock.h
-headers += SparseCwiseBinaryOp.h
-headers += SparseCwiseUnaryOp.h
-headers += SparseDenseProduct.h
-headers += SparseDiagonalProduct.h
-headers += SparseDot.h
-headers += SparseFuzzy.h
-headers += SparseMatrixBase.h
-headers += SparseMatrix.h
-headers += SparseProduct.h
-headers += SparseRedux.h
-headers += SparseSelfAdjointView.h
-headers += SparseSparseProduct.h
-headers += SparseTranspose.h
-headers += SparseTriangularView.h
-headers += SparseUtil.h
-headers += SparseVector.h
-headers += SparseView.h
-headers += TriangularSolver.h
-
-Sparsedir = $(pkgincludedir)/3rdparty/Eigen/src/Sparse
-Sparse_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/Sparse
-Sparse_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/StlSupport/Makefile.am b/gtsam/3rdparty/Eigen/src/StlSupport/Makefile.am
deleted file mode 100644
index 3711c44c5..000000000
--- a/gtsam/3rdparty/Eigen/src/StlSupport/Makefile.am
+++ /dev/null
@@ -1,24 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# StlSupport:
-headers += details.h
-headers += StdDeque.h
-headers += StdList.h
-headers += StdVector.h
-
-StlSupportdir = $(pkgincludedir)/3rdparty/Eigen/src/StlSupport
-StlSupport_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/StlSupport
-StlSupport_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/misc/Makefile.am b/gtsam/3rdparty/Eigen/src/misc/Makefile.am
deleted file mode 100644
index 977ac554b..000000000
--- a/gtsam/3rdparty/Eigen/src/misc/Makefile.am
+++ /dev/null
@@ -1,23 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# misc:
-headers += Image.h
-headers += Kernel.h
-headers += Solve.h
-
-miscdir = $(pkgincludedir)/3rdparty/Eigen/src/misc
-misc_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/misc
-misc_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/src/plugins/Makefile.am b/gtsam/3rdparty/Eigen/src/plugins/Makefile.am
deleted file mode 100644
index 3dde0d930..000000000
--- a/gtsam/3rdparty/Eigen/src/plugins/Makefile.am
+++ /dev/null
@@ -1,27 +0,0 @@
-# Eigen build/install - just need to copy header files into correct place
-
-# All the sub-directories that need to be built
-SUBDIRS = 
-
-# And the corresponding libraries produced
-# TODO add sublibs when something in 3rdparty actually needs compilation
-SUBLIBS = 
-
-# use nostdinc to turn off -I. and -I.., we do not need them because 
-# header files are qualified so they can be included in external projects.
-AUTOMAKE_OPTIONS = nostdinc
-
-headers  = 
-
-# plugins:
-headers += ArrayCwiseBinaryOps.h
-headers += ArrayCwiseUnaryOps.h
-headers += BlockMethods.h
-headers += CommonCwiseBinaryOps.h
-headers += CommonCwiseUnaryOps.h
-headers += MatrixCwiseBinaryOps.h
-headers += MatrixCwiseUnaryOps.h
-
-pluginsdir = $(pkgincludedir)/3rdparty/Eigen/src/plugins
-plugins_includedir = $(includedir)/gtsam/3rdparty/Eigen/src/plugins
-plugins_HEADERS = $(headers) 
\ No newline at end of file
diff --git a/gtsam/3rdparty/Makefile.am b/gtsam/3rdparty/Makefile.am
index 1b196f8df..37e70e877 100644
--- a/gtsam/3rdparty/Makefile.am
+++ b/gtsam/3rdparty/Makefile.am
@@ -1,7 +1,269 @@
 # 3rd Party libraries to be built and installed along with gtsam
 
 # All the sub-directories that need to be built
-SUBDIRS = Eigen ccolamd
+SUBDIRS = ccolamd
 
 # And the corresponding libraries produced
 SUBLIBS = ccolamd/libccolamd.la
+
+# set up the folders for includes
+3rdpartydir = $(pkgincludedir)/3rdparty
+3rdparty_includedir = $(includedir)/gtsam/3rdparty
+nobase_3rdparty_HEADERS  =
+
+# Eigen Installation - just copies the headers
+eigen_path = 
+eigen_path += Eigen  
+nobase_3rdparty_HEADERS += $(eigen_path)/Array         $(eigen_path)/LeastSquares
+nobase_3rdparty_HEADERS += $(eigen_path)/Cholesky      $(eigen_path)/LU
+nobase_3rdparty_HEADERS += $(eigen_path)/Core          $(eigen_path)/QR
+nobase_3rdparty_HEADERS += $(eigen_path)/Dense         $(eigen_path)/QtAlignedMalloc
+nobase_3rdparty_HEADERS += $(eigen_path)/Eigen         $(eigen_path)/Sparse
+nobase_3rdparty_HEADERS += $(eigen_path)/Eigen2Support $(eigen_path)/StdDeque
+nobase_3rdparty_HEADERS += $(eigen_path)/Eigenvalues   $(eigen_path)/StdList
+nobase_3rdparty_HEADERS += $(eigen_path)/Geometry      $(eigen_path)/StdVector
+nobase_3rdparty_HEADERS += $(eigen_path)/Householder   $(eigen_path)/SVD
+nobase_3rdparty_HEADERS += $(eigen_path)/Jacobi
+
+##./src/Cholesky:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Cholesky/LDLT.h  $(eigen_path)/src/Cholesky/LLT.h
+
+##./src/Core:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/ArrayBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Array.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/ArrayWrapper.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Assign.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/BandMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Block.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/BooleanRedux.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/CommaInitializer.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/CwiseBinaryOp.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/CwiseNullaryOp.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/CwiseUnaryOp.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/CwiseUnaryView.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/DenseBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/DenseCoeffsBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/DenseStorage.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Diagonal.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/DiagonalMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/DiagonalProduct.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Dot.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/EigenBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Flagged.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/ForceAlignedAccess.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Functors.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Fuzzy.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/GenericPacketMath.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/GlobalFunctions.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/IO.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/MapBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Map.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/MathFunctions.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/MatrixBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Matrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/NestByValue.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/NoAlias.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/NumTraits.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/PermutationMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/PlainObjectBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/ProductBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Product.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Random.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Redux.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Replicate.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/ReturnByValue.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Reverse.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Select.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/SelfAdjointView.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/SelfCwiseBinaryOp.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/SolveTriangular.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/StableNorm.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Stride.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Swap.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Transpose.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Transpositions.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/TriangularMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/VectorBlock.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/VectorwiseOp.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/Visitor.h
+
+##./src/Core/arch/AltiVec:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/AltiVec/Complex.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/AltiVec/PacketMath.h
+
+##./src/Core/arch/Default:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/Default/Settings.h
+
+##./src/Core/arch/NEON:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/NEON/Complex.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/NEON/PacketMath.h
+
+##./src/Core/arch/SSE:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/SSE/Complex.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/SSE/MathFunctions.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/arch/SSE/PacketMath.h
+
+##./src/Core/products:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/CoeffBasedProduct.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/GeneralBlockPanelKernel.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/GeneralMatrixMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/GeneralMatrixMatrixTriangular.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/GeneralMatrixVector.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/Parallelizer.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/SelfadjointMatrixMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/SelfadjointMatrixVector.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/SelfadjointProduct.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/SelfadjointRank2Update.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/TriangularMatrixMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/TriangularMatrixVector.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/TriangularSolverMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/products/TriangularSolverVector.h
+
+##./src/Core/util:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/BlasUtil.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/Constants.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/DisableStupidWarnings.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/ForwardDeclarations.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/Macros.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/Memory.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/Meta.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/ReenableStupidWarnings.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/StaticAssert.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Core/util/XprHelper.h
+
+##./src/Eigen2Support:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Block.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Cwise.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/CwiseOperators.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Lazy.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/LeastSquares.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/LU.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Macros.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/MathFunctions.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Memory.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Meta.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Minor.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/QR.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/SVD.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/TriangularSolver.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/VectorBlock.h
+
+##./src/Eigen2Support/Geometry:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/AlignedBox.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/All.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/AngleAxis.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/Hyperplane.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/ParametrizedLine.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/Quaternion.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/Rotation2D.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/RotationBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/Scaling.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/Transform.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigen2Support/Geometry/Translation.h
+
+##./src/Eigenvalues:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/ComplexEigenSolver.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/ComplexSchur.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/EigenSolver.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/EigenvaluesCommon.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/HessenbergDecomposition.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/MatrixBaseEigenvalues.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/RealSchur.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/SelfAdjointEigenSolver.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Eigenvalues/Tridiagonalization.h
+
+##./src/Geometry:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/AlignedBox.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/AngleAxis.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/EulerAngles.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Homogeneous.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Hyperplane.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/OrthoMethods.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/ParametrizedLine.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Quaternion.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Rotation2D.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/RotationBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Scaling.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Transform.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Translation.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/Umeyama.h
+
+##./src/Geometry/arch:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Geometry/arch/Geometry_SSE.h
+
+##./src/Householder:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Householder/BlockHouseholder.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Householder/Householder.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Householder/HouseholderSequence.h
+
+##./src/Jacobi:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Jacobi/Jacobi.h
+
+##./src/LU:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/LU/Determinant.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/LU/FullPivLU.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/LU/Inverse.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/LU/PartialPivLU.h
+
+##./src/LU/arch:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/LU/arch/Inverse_SSE.h
+
+##./src/misc:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/misc/Image.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/misc/Kernel.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/misc/Solve.h
+
+##./src/plugins:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/plugins/ArrayCwiseBinaryOps.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/plugins/ArrayCwiseUnaryOps.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/plugins/BlockMethods.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/plugins/CommonCwiseBinaryOps.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/plugins/CommonCwiseUnaryOps.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/plugins/MatrixCwiseBinaryOps.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/plugins/MatrixCwiseUnaryOps.h
+
+##./src/QR:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/QR/ColPivHouseholderQR.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/QR/FullPivHouseholderQR.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/QR/HouseholderQR.h
+
+##./src/Sparse:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/AmbiVector.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/CompressedStorage.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/CoreIterators.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/DynamicSparseMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/MappedSparseMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseAssign.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseBlock.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseCwiseBinaryOp.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseCwiseUnaryOp.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseDenseProduct.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseDiagonalProduct.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseDot.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseFuzzy.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseMatrixBase.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseMatrix.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseProduct.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseRedux.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseSelfAdjointView.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseSparseProduct.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseTranspose.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseTriangularView.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseUtil.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseVector.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/SparseView.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/Sparse/TriangularSolver.h
+
+##./src/StlSupport:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/StlSupport/details.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/StlSupport/StdDeque.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/StlSupport/StdList.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/StlSupport/StdVector.h
+
+##./src/SVD:
+nobase_3rdparty_HEADERS += $(eigen_path)/src/SVD/JacobiSVD.h
+nobase_3rdparty_HEADERS += $(eigen_path)/src/SVD/UpperBidiagonalization.h
+
+
+