diff --git a/.gitignore b/.gitignore
index 7850df41b..04e8e76d1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,3 +7,4 @@
 *.txt.user
 *.txt.user.6d59f0c
 /python-build/
+*.pydevproject
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 01141973a..f7ceb62b3 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -48,7 +48,7 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU
 	include_directories(${NUMPY_INCLUDE_DIRS})
 	include_directories(${PYTHON_INCLUDE_DIRS})
 	include_directories(${Boost_INCLUDE_DIRS})
-	include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/)
+	include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/)
 
 	# Build the python module library
 	add_subdirectory(handwritten)
diff --git a/python/handwritten/slam/BearingFactor.cpp b/python/handwritten/slam/BearingFactor.cpp
index 84c67d522..2d4688bde 100644
--- a/python/handwritten/slam/BearingFactor.cpp
+++ b/python/handwritten/slam/BearingFactor.cpp
@@ -3,15 +3,14 @@
 #define NO_IMPORT_ARRAY
 #include <numpy_eigen/NumpyEigenConverter.hpp>
 
-#include <gtsam/slam/BearingFactor.h>
+#include <gtsam/sam/BearingFactor.h>
 
 using namespace boost::python;
 using namespace gtsam;
 
 using namespace std;
 
-template<class VALUE>
-void exportBearingFactor(const std::string& name){
-  class_<VALUE>(name, init<>())
-  ;
-}
\ No newline at end of file
+template <class VALUE>
+void exportBearingFactor(const std::string& name) {
+  class_<VALUE>(name, init<>());
+}
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp b/python/include/numpy_eigen/NumpyEigenConverter.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp
rename to python/include/numpy_eigen/NumpyEigenConverter.hpp
diff --git a/gtsam/3rdparty/numpy_eigen/README.md b/python/include/numpy_eigen/README.md
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/README.md
rename to python/include/numpy_eigen/README.md
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp b/python/include/numpy_eigen/boost_python_headers.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp
rename to python/include/numpy_eigen/boost_python_headers.hpp
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp b/python/include/numpy_eigen/copy_routines.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp
rename to python/include/numpy_eigen/copy_routines.hpp
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp b/python/include/numpy_eigen/type_traits.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp
rename to python/include/numpy_eigen/type_traits.hpp