diff --git a/.cproject b/.cproject
index b76924d5b..1ce93a626 100644
--- a/.cproject
+++ b/.cproject
@@ -1,5 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+<?fileVersion 4.0.0?>
+
+<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
 	<storageModule moduleId="org.eclipse.cdt.core.settings">
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544" moduleId="org.eclipse.cdt.core.settings" name="MacOSX GCC">
@@ -755,6 +757,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="schedulingQuals13.run" path="build/gtsam_unstable/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>schedulingQuals13.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -891,14 +901,6 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testBayesTree.run" path="build/gtsam/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testBayesTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1523,82 +1525,90 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testStereoCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/testStereoCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testStereoCamera.run</buildTarget>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testStereoCamera.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testRot3M.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/testRot3M.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testRot3M.run</buildTarget>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testRot3M.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testPoint3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/testPoint3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testPoint3.run</buildTarget>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testPoint3.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testCalibratedCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/testCalibratedCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testCalibratedCamera.run</buildTarget>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testCalibratedCamera.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="timeRot3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/timeRot3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timeRot3.run</buildTarget>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/timeRot3.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="timePose3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/timePose3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timePose3.run</buildTarget>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/timePose3.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="timeStereoCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/timeStereoCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timeStereoCamera.run</buildTarget>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/timeStereoCamera.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testPoint2.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="geometry.testHomography2.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j1 VERBOSE=1</buildArguments>
+				<buildTarget>geometry.testHomography2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="geometry.testPoint2.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>testPoint2.run</buildTarget>
+				<buildTarget>geometry.testPoint2.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testPose2.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="geometry.testPose2.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>testPose2.run</buildTarget>
+				<buildTarget>geometry.testPose2.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testPose3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="geometry.testPose3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>testPose3.run</buildTarget>
+				<buildTarget>geometry.testPose3.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1760,38 +1770,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="timeMatrixOps" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timeMatrixOps</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="timeTest" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timeTest</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="timeVirtual" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timeVirtual</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="timeVirtual2" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timeVirtual2</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testVectorValues.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>