diff --git a/.cproject b/.cproject
index 17b162e72..4e91622c1 100644
--- a/.cproject
+++ b/.cproject
@@ -1770,6 +1770,14 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="gtsam-static" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>gtsam-static</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index 4e6cefb47..45118d7b8 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -16,10 +16,9 @@ foreach(eigen_dir ${eigen_dir_headers_all})
     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
+## build convenience library
+#set (3rdparty_srcs 
+# CCOLAMD/Source/ccolamd.c 
+# CCOLAMD/Source/ccolamd_global.c
+# UFconfig/UFconfig.c) 
+#add_library(ccolamd STATIC ${3rdparty_srcs}) 
\ No newline at end of file
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 41f8f3d33..c696ed751 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -1,88 +1,69 @@
 # Build full gtsam library as a single library
 # and also build tests 
 set (gtsam_subdirs 
-    3rdparty
     base 
     geometry 
     inference 
     linear 
     nonlinear 
     slam
- )
+)
 
+set(gtsam_srcs)
+
+# Build 3rdparty separately
+message(STATUS "Building 3rdparty") 
+add_subdirectory(3rdparty)
+
+# build convenience library
+set (3rdparty_srcs 
+ 3rdparty/CCOLAMD/Source/ccolamd.c 
+ 3rdparty/CCOLAMD/Source/ccolamd_global.c
+ 3rdparty/UFconfig/UFconfig.c) 
+add_library(ccolamd STATIC ${3rdparty_srcs})
+
+# assemble core libaries
 foreach(subdir ${gtsam_subdirs})
+    # Build convenience libraries
+    file(GLOB subdir_srcs "${subdir}/*.cpp")
+    add_library(${subdir} STATIC ${subdir_srcs})
+    set(${subdir}_srcs ${subdir_srcs})
+
     # Build local library and tests
     message(STATUS "Building ${subdir}") 
     add_subdirectory(${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)
+# assemble gtsam components
+set(gtsam_srcs
+    ${3rdparty_srcs}
+    ${base_srcs}
+    ${geometry_srcs}
+    ${inference_srcs}
+    ${linear_srcs}
+    ${nonlinear_srcs}
+    ${slam_srcs}
+)
+ 
+# build shared and static versions of the library
+message(STATUS "Building GTSAM - static")
+message(STATUS "GTSAM library sources ${gtsam_srcs}")
+add_library(gtsam-static STATIC ${gtsam_srcs})
+set_target_properties(gtsam-static PROPERTIES OUTPUT_NAME gtsam)
+set_target_properties(gtsam-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
+set_target_properties(gtsam-static PROPERTIES
+ 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	)
+install(TARGETS gtsam-static ARCHIVE DESTINATION lib)
+
+message(STATUS "Building GTSAM - shared")
+add_library(gtsam-shared SHARED ${gtsam_srcs})
+set_target_properties(gtsam-shared PROPERTIES OUTPUT_NAME gtsam)
+set_target_properties(gtsam-shared PROPERTIES CLEAN_DIRECT_OUTPUT 1)
+set_target_properties(gtsam-shared PROPERTIES
+ 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
+ 	)
+install(TARGETS gtsam-shared LIBRARY DESTINATION lib )
 
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
index 476740677..6c788d9c8 100644
--- a/gtsam/base/CMakeLists.txt
+++ b/gtsam/base/CMakeLists.txt
@@ -1,7 +1,3 @@
-# Build convenience libraries
-file(GLOB base_srcs "*.cpp")
-add_library(base STATIC ${base_srcs})
-
 # Install headers
 file(GLOB base_headers "*.h")
 install(FILES ${base_headers} DESTINATION include/gtsam/base)
diff --git a/gtsam/geometry/CMakeLists.txt b/gtsam/geometry/CMakeLists.txt
index ec16ba436..9decf7fa5 100644
--- a/gtsam/geometry/CMakeLists.txt
+++ b/gtsam/geometry/CMakeLists.txt
@@ -1,7 +1,3 @@
-# Build convenience libraries
-file(GLOB geometry_srcs "*.cpp")
-add_library(geometry STATIC ${geometry_srcs})
-
 # link back to base
 add_dependencies(geometry base)
 
diff --git a/gtsam/inference/CMakeLists.txt b/gtsam/inference/CMakeLists.txt
index 5a458812d..f1b671ea2 100644
--- a/gtsam/inference/CMakeLists.txt
+++ b/gtsam/inference/CMakeLists.txt
@@ -1,7 +1,3 @@
-# Build convenience libraries
-file(GLOB inference_srcs "*.cpp")
-add_library(inference STATIC ${inference_srcs})
-
 # link back to previous convenience library
 add_dependencies(inference base)
 
diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt
index 0bbfcc782..1a5aea09b 100644
--- a/gtsam/linear/CMakeLists.txt
+++ b/gtsam/linear/CMakeLists.txt
@@ -1,7 +1,3 @@
-# Build convenience libraries
-file(GLOB linear_srcs "*.cpp")
-add_library(linear STATIC ${linear_srcs})
-
 # link back to base
 add_dependencies(linear inference)
 
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
index 211ef1810..b489b7ba6 100644
--- a/gtsam/nonlinear/CMakeLists.txt
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -1,7 +1,3 @@
-# Build convenience libraries
-file(GLOB nonlinear_srcs "*.cpp")
-add_library(nonlinear STATIC ${nonlinear_srcs})
-
 # link back to base
 add_dependencies(nonlinear linear)
 
diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt
index 08976d402..cc9e2c73d 100644
--- a/gtsam/slam/CMakeLists.txt
+++ b/gtsam/slam/CMakeLists.txt
@@ -1,7 +1,3 @@
-# Build convenience libraries
-file(GLOB slam_srcs "*.cpp")
-add_library(slam STATIC ${slam_srcs})
-
 # link back to base
 add_dependencies(slam nonlinear)