diff --git a/.cproject b/.cproject
index e38672871..17b162e72 100644
--- a/.cproject
+++ b/.cproject
@@ -1738,6 +1738,38 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="check.inference" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2 VERBOSE=1</buildArguments>
+				<buildTarget>check.inference</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check.linear" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2 VERBOSE=1</buildArguments>
+				<buildTarget>check.linear</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check.nonlinear" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2 VERBOSE=1</buildArguments>
+				<buildTarget>check.nonlinear</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check.slam" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2 VERBOSE=1</buildArguments>
+				<buildTarget>check.slam</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</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/CMakeLists.txt b/gtsam/CMakeLists.txt
index 84bb3aad2..41f8f3d33 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -4,10 +4,10 @@ set (gtsam_subdirs
     3rdparty
     base 
     geometry 
- #   inference 
- #   linear 
- #   nonlinear 
- #   slam
+    inference 
+    linear 
+    nonlinear 
+    slam
  )
 
 foreach(subdir ${gtsam_subdirs})
diff --git a/gtsam/inference/CMakeLists.txt b/gtsam/inference/CMakeLists.txt
new file mode 100644
index 000000000..5a458812d
--- /dev/null
+++ b/gtsam/inference/CMakeLists.txt
@@ -0,0 +1,50 @@
+# Build convenience libraries
+file(GLOB inference_srcs "*.cpp")
+add_library(inference STATIC ${inference_srcs})
+
+# link back to previous convenience library
+add_dependencies(inference base)
+
+# Install headers
+file(GLOB inference_headers "*.h")
+install(FILES ${inference_headers} DESTINATION include/gtsam/inference)
+
+add_custom_target(check.inference COMMAND ${CMAKE_CTEST_COMMAND})
+add_custom_target(timing.inference)
+
+# Components to link tests in this subfolder against
+set(inference_local_libs
+   inference
+   geometry
+   base
+   ccolamd
+   CppUnitLite
+)
+
+# Build tests
+file(GLOB inference_tests_srcs "tests/test*.cpp")
+foreach(test_src ${inference_tests_srcs})
+    get_filename_component(test_base ${test_src} NAME_WE)
+    set( test_bin inference.${test_base} )
+    message(STATUS "Adding Test ${test_bin}") 
+    add_executable(${test_bin} ${test_src})
+    add_dependencies(check.inference ${test_bin})
+    add_dependencies(check ${test_bin})
+    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    target_link_libraries(${test_bin} ${inference_local_libs})
+    add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+endforeach(test_src)
+
+# Build timing scripts
+file(GLOB inference_timing_srcs "tests/time*.cpp") 
+foreach(time_src ${inference_timing_srcs})
+    get_filename_component(time_base ${time_src} NAME_WE)
+    set( time_bin inference.${time_base} )
+    message(STATUS "Adding Timing Benchmark ${time_bin}")
+    add_executable(${time_bin} ${time_src})
+    add_dependencies(timing.inference ${time_bin})
+    add_dependencies(timing ${time_bin})
+    target_link_libraries(${time_bin} ${inference_local_libs})
+    add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+endforeach(time_src)
+
diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt
new file mode 100644
index 000000000..0bbfcc782
--- /dev/null
+++ b/gtsam/linear/CMakeLists.txt
@@ -0,0 +1,51 @@
+# Build convenience libraries
+file(GLOB linear_srcs "*.cpp")
+add_library(linear STATIC ${linear_srcs})
+
+# link back to base
+add_dependencies(linear inference)
+
+# Install headers
+file(GLOB linear_headers "*.h")
+install(FILES ${linear_headers} DESTINATION include/gtsam/linear)
+
+add_custom_target(check.linear COMMAND ${CMAKE_CTEST_COMMAND})
+add_custom_target(timing.linear)
+
+# Components to link tests in this subfolder against
+set(linear_local_libs
+   linear
+   inference
+   geometry
+   base
+   ccolamd
+   CppUnitLite
+)
+
+# Build tests
+file(GLOB linear_tests_srcs "tests/test*.cpp")
+foreach(test_src ${linear_tests_srcs})
+    get_filename_component(test_base ${test_src} NAME_WE)
+    set( test_bin linear.${test_base} )
+    message(STATUS "Adding Test ${test_bin}") 
+    add_executable(${test_bin} ${test_src})
+    add_dependencies(check.linear ${test_bin})
+    add_dependencies(check ${test_bin})
+    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    target_link_libraries(${test_bin} ${linear_local_libs})
+    add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+endforeach(test_src)
+
+# Build timing scripts
+file(GLOB linear_timing_srcs "tests/time*.cpp") 
+foreach(time_src ${linear_timing_srcs})
+    get_filename_component(time_base ${time_src} NAME_WE)
+    set( time_bin linear.${time_base} )
+    message(STATUS "Adding Timing Benchmark ${time_bin}")
+    add_executable(${time_bin} ${time_src})
+    add_dependencies(timing.linear ${time_bin})
+    add_dependencies(timing ${time_bin})
+    target_link_libraries(${time_bin} ${linear_local_libs})
+    add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+endforeach(time_src)
+
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
new file mode 100644
index 000000000..211ef1810
--- /dev/null
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -0,0 +1,52 @@
+# Build convenience libraries
+file(GLOB nonlinear_srcs "*.cpp")
+add_library(nonlinear STATIC ${nonlinear_srcs})
+
+# link back to base
+add_dependencies(nonlinear linear)
+
+# Install headers
+file(GLOB nonlinear_headers "*.h")
+install(FILES ${nonlinear_headers} DESTINATION include/gtsam/nonlinear)
+
+add_custom_target(check.nonlinear COMMAND ${CMAKE_CTEST_COMMAND})
+add_custom_target(timing.nonlinear)
+
+# Components to link tests in this subfolder against
+set(nonlinear_local_libs
+   nonlinear
+   linear
+   inference
+   geometry
+   base
+   ccolamd
+   CppUnitLite
+)
+
+# Build tests
+file(GLOB nonlinear_tests_srcs "tests/test*.cpp")
+foreach(test_src ${nonlinear_tests_srcs})
+    get_filename_component(test_base ${test_src} NAME_WE)
+    set( test_bin nonlinear.${test_base} )
+    message(STATUS "Adding Test ${test_bin}") 
+    add_executable(${test_bin} ${test_src})
+    add_dependencies(check.nonlinear ${test_bin})
+    add_dependencies(check ${test_bin})
+    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    target_link_libraries(${test_bin} ${nonlinear_local_libs})
+    add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+endforeach(test_src)
+
+# Build timing scripts
+file(GLOB nonlinear_timing_srcs "tests/time*.cpp") 
+foreach(time_src ${nonlinear_timing_srcs})
+    get_filename_component(time_base ${time_src} NAME_WE)
+    set( time_bin nonlinear.${time_base} )
+    message(STATUS "Adding Timing Benchmark ${time_bin}")
+    add_executable(${time_bin} ${time_src})
+    add_dependencies(timing.nonlinear ${time_bin})
+    add_dependencies(timing ${time_bin})
+    target_link_libraries(${time_bin} ${nonlinear_local_libs})
+    add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+endforeach(time_src)
+
diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt
new file mode 100644
index 000000000..08976d402
--- /dev/null
+++ b/gtsam/slam/CMakeLists.txt
@@ -0,0 +1,53 @@
+# Build convenience libraries
+file(GLOB slam_srcs "*.cpp")
+add_library(slam STATIC ${slam_srcs})
+
+# link back to base
+add_dependencies(slam nonlinear)
+
+# Install headers
+file(GLOB slam_headers "*.h")
+install(FILES ${slam_headers} DESTINATION include/gtsam/slam)
+
+add_custom_target(check.slam COMMAND ${CMAKE_CTEST_COMMAND})
+add_custom_target(timing.slam)
+
+# Components to link tests in this subfolder against
+set(slam_local_libs
+   slam
+   nonlinear
+   linear
+   inference
+   geometry
+   base
+   ccolamd
+   CppUnitLite
+)
+
+# Build tests
+file(GLOB slam_tests_srcs "tests/test*.cpp")
+foreach(test_src ${slam_tests_srcs})
+    get_filename_component(test_base ${test_src} NAME_WE)
+    set( test_bin slam.${test_base} )
+    message(STATUS "Adding Test ${test_bin}") 
+    add_executable(${test_bin} ${test_src})
+    add_dependencies(check.slam ${test_bin})
+    add_dependencies(check ${test_bin})
+    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    target_link_libraries(${test_bin} ${slam_local_libs})
+    add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+endforeach(test_src)
+
+# Build timing scripts
+file(GLOB slam_timing_srcs "tests/time*.cpp") 
+foreach(time_src ${slam_timing_srcs})
+    get_filename_component(time_base ${time_src} NAME_WE)
+    set( time_bin slam.${time_base} )
+    message(STATUS "Adding Timing Benchmark ${time_bin}")
+    add_executable(${time_bin} ${time_src})
+    add_dependencies(timing.slam ${time_bin})
+    add_dependencies(timing ${time_bin})
+    target_link_libraries(${time_bin} ${slam_local_libs})
+    add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+endforeach(time_src)
+