diff --git a/CMakeLists.txt b/CMakeLists.txt
index b19ece0e6..6fc456609 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,17 +60,6 @@ include(cmake/HandleGlobalBuildFlags.cmake) # Build flags
 # Build CppUnitLite
 add_subdirectory(CppUnitLite)
 
-# This is the new wrapper
-if(GTSAM_BUILD_PYTHON)
-    # Need to set this for the wrap package so we don't use the default value.
-    set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION}
-        CACHE STRING "The Python version to use for wrapping")
-
-    add_subdirectory(wrap)
-    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
-    add_subdirectory(python)
-endif()
-
 # Build GTSAM library
 add_subdirectory(gtsam)
 
@@ -88,8 +77,22 @@ if (GTSAM_BUILD_UNSTABLE)
     add_subdirectory(gtsam_unstable)
 endif()
 
+# This is the new wrapper
+if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
+    # Need to set this for the wrap package so we don't use the default value.
+    set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION}
+        CACHE STRING "The Python version to use for wrapping")
+    add_subdirectory(wrap)
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
+endif()
+
+# Python toolbox
+if(GTSAM_BUILD_PYTHON)
+    add_subdirectory(python)
+endif()
+
 # Matlab toolbox
-if (GTSAM_INSTALL_MATLAB_TOOLBOX)
+if(GTSAM_INSTALL_MATLAB_TOOLBOX)
     add_subdirectory(matlab)
 endif()
 
diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index 1e7e88612..5de7ebac0 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -58,8 +58,7 @@ if(NOT BUILD_SHARED_LIBS)
   list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
 endif()
 
-set(ignore gtsam::Point2 gtsam::Point3 gtsam::BearingRangeFactor
-            gtsam::BearingRangeFactor2D gtsam::BearingRangeFactorPose2)
+set(ignore gtsam::Point2 gtsam::Point3)
 
 # Wrap
 matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam/gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}"