diff --git a/CMakeLists.txt b/CMakeLists.txt
index fe14fab87..8dfd4279a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,7 +34,7 @@ set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
 set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
 
 # Configurable Options
-
+# TODO
 
 # Pull in tests
 enable_testing()
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index 673411a58..4e6cefb47 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -15,3 +15,11 @@ foreach(eigen_dir ${eigen_dir_headers_all})
         install(FILES Eigen/Eigen/${filename} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/Eigen/Eigen)     
     endif()
 endforeach(eigen_dir)
+
+# build convenience library
+set (ccolamd_srcs 
+ CCOLAMD/Source/ccolamd.c 
+ CCOLAMD/Source/ccolamd_global.c
+ UFconfig/UFconfig.c) 
+
+add_library(ccolamd STATIC ${ccolamd_srcs}) 
\ No newline at end of file
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 43a5c0110..4240563c1 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -1,80 +1,85 @@
 # Build full gtsam library as a single library
 # and also build tests 
 set (gtsam_subdirs 
+    3rdparty
     base 
     geometry 
     inference 
     linear 
     nonlinear 
     slam)
+
+foreach(subdir ${gtsam_subdirs})
+    add_subdirectory(${subdir})
+endforeach(subdir)
  
-set (ccolamd_srcs 
- 3rdparty/CCOLAMD/Source/ccolamd.c 
- 3rdparty/CCOLAMD/Source/ccolamd_global.c
- 3rdparty/UFconfig/UFconfig.c) 
-
-# install headers from 3rdparty libraries
-add_subdirectory(3rdparty)
-
-# Accumulate gtsam_srcs
-set(gtsam_srcs ${ccolamd_srcs})
-
-# Get all sources and headers from each subdirectory
-foreach(subdir ${gtsam_subdirs})
-    message(STATUS "Building ${subdir}")
-    file(GLOB sub_gtsam_srcs "${subdir}/*.cpp")
-    list(APPEND gtsam_srcs ${sub_gtsam_srcs})
-    
-    # install headers
-    file(GLOB sub_gtsam_headers "${subdir}/*.h")
-    install(FILES ${sub_gtsam_headers} DESTINATION include/gtsam/${subdir})
-endforeach(subdir)
-
-# build shared and static versions of the library
-add_library(${PROJECT_NAME}-static STATIC ${gtsam_srcs})
-set_target_properties(${PROJECT_NAME}-static PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
-set_target_properties(${PROJECT_NAME}-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
-set_target_properties(${PROJECT_NAME}-static PROPERTIES
- 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	)
-install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib)
-
-add_library(${PROJECT_NAME}-shared SHARED ${gtsam_srcs})
-set_target_properties(${PROJECT_NAME}-shared PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
-set_target_properties(${PROJECT_NAME}-shared PROPERTIES CLEAN_DIRECT_OUTPUT 1)
-set_target_properties(${PROJECT_NAME}-shared PROPERTIES
- 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	)
- 	
-install(TARGETS ${PROJECT_NAME}-shared LIBRARY DESTINATION lib )
-
-# Get all sources and headers from each 
-foreach(subdir ${gtsam_subdirs})
-    # Build tests
-    file(GLOB tests_srcs "${subdir}/tests/test*.cpp")
-    foreach(test_src ${tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin ${subdir}_${test_base} )
-        add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
-        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
-        add_dependencies(check ${test_bin})
-        add_test(${subdir}/${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} CppUnitLite gtsam-static)
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
-    
-    # Build timing scripts
-    file(GLOB time_srcs "${subdir}/tests/time*.cpp") 
-    foreach(time_src ${time_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin ${time_base} )
-        add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
-        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} CppUnitLite gtsam-static)
-        add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
-endforeach(subdir)
+#set (ccolamd_srcs 
+# 3rdparty/CCOLAMD/Source/ccolamd.c 
+# 3rdparty/CCOLAMD/Source/ccolamd_global.c
+# 3rdparty/UFconfig/UFconfig.c) 
+#
+## install headers from 3rdparty libraries
+#add_subdirectory(3rdparty)
+#
+## Accumulate gtsam_srcs
+#set(gtsam_srcs ${ccolamd_srcs})
+#
+## Get all sources and headers from each subdirectory
+#foreach(subdir ${gtsam_subdirs})
+#    message(STATUS "Building ${subdir}")
+#    file(GLOB sub_gtsam_srcs "${subdir}/*.cpp")
+#    list(APPEND gtsam_srcs ${sub_gtsam_srcs})
+#    
+#    # install headers
+#    file(GLOB sub_gtsam_headers "${subdir}/*.h")
+#    install(FILES ${sub_gtsam_headers} DESTINATION include/gtsam/${subdir})
+#endforeach(subdir)
+#
+## build shared and static versions of the library
+#add_library(${PROJECT_NAME}-static STATIC ${gtsam_srcs})
+#set_target_properties(${PROJECT_NAME}-static PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
+#set_target_properties(${PROJECT_NAME}-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
+#set_target_properties(${PROJECT_NAME}-static PROPERTIES
+# 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+# 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+# 	)
+#install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib)
+#
+#add_library(${PROJECT_NAME}-shared SHARED ${gtsam_srcs})
+#set_target_properties(${PROJECT_NAME}-shared PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
+#set_target_properties(${PROJECT_NAME}-shared PROPERTIES CLEAN_DIRECT_OUTPUT 1)
+#set_target_properties(${PROJECT_NAME}-shared PROPERTIES
+# 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+# 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+# 	)
+# 	
+#install(TARGETS ${PROJECT_NAME}-shared LIBRARY DESTINATION lib )
+#
+## Get all sources and headers from each 
+#foreach(subdir ${gtsam_subdirs})
+#    # Build tests
+#    file(GLOB tests_srcs "${subdir}/tests/test*.cpp")
+#    foreach(test_src ${tests_srcs})
+#        get_filename_component(test_base ${test_src} NAME_WE)
+#        set( test_bin ${subdir}_${test_base} )
+#        add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
+#        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
+#        add_dependencies(check ${test_bin})
+#        add_test(${subdir}/${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+#        target_link_libraries(${test_bin} CppUnitLite gtsam-static)
+#        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+#    endforeach(test_src)
+#    
+#    # Build timing scripts
+#    file(GLOB time_srcs "${subdir}/tests/time*.cpp") 
+#    foreach(time_src ${time_srcs})
+#        get_filename_component(time_base ${time_src} NAME_WE)
+#        set( time_bin ${time_base} )
+#        add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
+#        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
+#        add_dependencies(timing ${time_bin})
+#        target_link_libraries(${time_bin} CppUnitLite gtsam-static)
+#        add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+#    endforeach(time_src)
+#endforeach(subdir)
 
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
new file mode 100644
index 000000000..43a5c0110
--- /dev/null
+++ b/gtsam/base/CMakeLists.txt
@@ -0,0 +1,80 @@
+# Build full gtsam library as a single library
+# and also build tests 
+set (gtsam_subdirs 
+    base 
+    geometry 
+    inference 
+    linear 
+    nonlinear 
+    slam)
+ 
+set (ccolamd_srcs 
+ 3rdparty/CCOLAMD/Source/ccolamd.c 
+ 3rdparty/CCOLAMD/Source/ccolamd_global.c
+ 3rdparty/UFconfig/UFconfig.c) 
+
+# install headers from 3rdparty libraries
+add_subdirectory(3rdparty)
+
+# Accumulate gtsam_srcs
+set(gtsam_srcs ${ccolamd_srcs})
+
+# Get all sources and headers from each subdirectory
+foreach(subdir ${gtsam_subdirs})
+    message(STATUS "Building ${subdir}")
+    file(GLOB sub_gtsam_srcs "${subdir}/*.cpp")
+    list(APPEND gtsam_srcs ${sub_gtsam_srcs})
+    
+    # install headers
+    file(GLOB sub_gtsam_headers "${subdir}/*.h")
+    install(FILES ${sub_gtsam_headers} DESTINATION include/gtsam/${subdir})
+endforeach(subdir)
+
+# build shared and static versions of the library
+add_library(${PROJECT_NAME}-static STATIC ${gtsam_srcs})
+set_target_properties(${PROJECT_NAME}-static PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
+set_target_properties(${PROJECT_NAME}-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
+set_target_properties(${PROJECT_NAME}-static PROPERTIES
+ 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	)
+install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib)
+
+add_library(${PROJECT_NAME}-shared SHARED ${gtsam_srcs})
+set_target_properties(${PROJECT_NAME}-shared PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
+set_target_properties(${PROJECT_NAME}-shared PROPERTIES CLEAN_DIRECT_OUTPUT 1)
+set_target_properties(${PROJECT_NAME}-shared PROPERTIES
+ 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	)
+ 	
+install(TARGETS ${PROJECT_NAME}-shared LIBRARY DESTINATION lib )
+
+# Get all sources and headers from each 
+foreach(subdir ${gtsam_subdirs})
+    # Build tests
+    file(GLOB tests_srcs "${subdir}/tests/test*.cpp")
+    foreach(test_src ${tests_srcs})
+        get_filename_component(test_base ${test_src} NAME_WE)
+        set( test_bin ${subdir}_${test_base} )
+        add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
+        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
+        add_dependencies(check ${test_bin})
+        add_test(${subdir}/${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+        target_link_libraries(${test_bin} CppUnitLite gtsam-static)
+        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+    endforeach(test_src)
+    
+    # Build timing scripts
+    file(GLOB time_srcs "${subdir}/tests/time*.cpp") 
+    foreach(time_src ${time_srcs})
+        get_filename_component(time_base ${time_src} NAME_WE)
+        set( time_bin ${time_base} )
+        add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
+        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
+        add_dependencies(timing ${time_bin})
+        target_link_libraries(${time_bin} CppUnitLite gtsam-static)
+        add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+    endforeach(time_src)
+endforeach(subdir)
+