diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp
index 1388c2f18..f5b5319d0 100644
--- a/gtsam/base/timing.cpp
+++ b/gtsam/base/timing.cpp
@@ -20,7 +20,6 @@
 #include <stdio.h>
 #include <iostream>
 #include <iomanip>
-#include <sys/time.h>
 #include <stdlib.h>
 #include <boost/foreach.hpp>
 #include <boost/format.hpp>
@@ -48,7 +47,7 @@ void TimingOutline::add(size_t usecs) {
 
 /* ************************************************************************* */
 TimingOutline::TimingOutline(const std::string& label) :
-   t_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), label_(label), timerActive_(false) {}
+   t_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), label_(label) {}
 
 /* ************************************************************************* */
 size_t TimingOutline::time() const {
@@ -151,18 +150,15 @@ const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child, const
 
 /* ************************************************************************* */
 void TimingOutline::tic() {
-	assert(!timerActive_);
-	timerActive_ = true;
-	gettimeofday(&t0_, NULL);
+	assert(timer_.is_stopped());
+  timer_.start();
 }
 
 /* ************************************************************************* */
 void TimingOutline::toc() {
-	struct timeval t;
-	gettimeofday(&t, NULL);
-	assert(timerActive_);
-	add(t.tv_sec*1000000 + t.tv_usec - (t0_.tv_sec*1000000 + t0_.tv_usec));
-	timerActive_ = false;
+	assert(!timer_.is_stopped());
+  timer_.stop();
+	add((timer_.elapsed().user + timer_.elapsed().system) / 1000);
 }
 
 /* ************************************************************************* */
@@ -231,6 +227,8 @@ void toc_(size_t id, const std::string& label) {
 	toc_(id);
 }
 
+#ifdef ENABLE_OLD_TIMING
+
 /* ************************************************************************* */
 // Timing class implementation
 void Timing::print() {
@@ -260,3 +258,5 @@ void ticPop_(const std::string& prefix, const std::string& id) {
   else
     timingPrefix.resize(timingPrefix.size() - prefix.size() - 1);
 }
+
+#endif
\ No newline at end of file
diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
index 94498c3b3..e09e3bb14 100644
--- a/gtsam/base/timing.h
+++ b/gtsam/base/timing.h
@@ -1,202 +1,204 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file    timing.h
- * @brief   Timing utilities
- * @author  Richard Roberts, Michael Kaess
- * @date    Oct 5, 2010
- */
-#pragma once
-
-#include <string>
-#include <map>
-#include <vector>
-#include <boost/shared_ptr.hpp>
-#include <boost/weak_ptr.hpp>
-
-class TimingOutline;
-extern boost::shared_ptr<TimingOutline> timingRoot;
-extern boost::weak_ptr<TimingOutline> timingCurrent;
-
-class TimingOutline {
-protected:
-  size_t t_;
-  double t2_ ; /* cache the \sum t_i^2 */
-  size_t tIt_;
-  size_t tMax_;
-  size_t tMin_;
-  size_t n_;
-  std::string label_;
-
-  boost::weak_ptr<TimingOutline> parent_;
-  std::vector<boost::shared_ptr<TimingOutline> > children_;
-  struct timeval t0_;
-  bool timerActive_;
-
-  void add(size_t usecs);
-
-public:
-
-  TimingOutline(const std::string& label);
-
-  size_t time() const;
-
-  void print(const std::string& outline = "") const;
-
-  void print2(const std::string& outline = "", const double parentTotal = -1.0) const;
-
-  const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
-
-  void tic();
-
-  void toc();
-
-  void finishedIteration();
-
-  friend class AutoTimer;
-  friend void toc_(size_t id);
-  friend void toc_(size_t id, const std::string& label);
-}; // \TimingOutline
-
-void tic_(size_t id, const std::string& label);
-
-void toc_(size_t id);
-
-void toc_(size_t id, const std::string& label);
-
-inline void tictoc_finishedIteration_() {
-  timingRoot->finishedIteration();
-}
-
-#ifdef ENABLE_TIMING
-inline void tic(size_t id, const std::string& label) { tic_(id, label); }
-inline void toc(size_t id) { toc_(id); }
-inline void toc(size_t id, const std::string& label) { toc_(id, label); }
-inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); }
-#else
-inline void tic(size_t, const char*) {}
-inline void toc(size_t) {}
-inline void toc(size_t, const char*) {}
-inline void tictoc_finishedIteration() {}
-#endif
-
-// simple class for accumulating execution timing information by name
-class Timing;
-extern Timing timing;
-extern std::string timingPrefix;
-
-double _tic();
-double _toc(double t);
-double tic(const std::string& id);
-double toc(const std::string& id);
-void ticPush(const std::string& id);
-void ticPop(const std::string& id);
-void tictoc_print();
-void tictoc_finishedIteration();
-
-/** These underscore versions work evening when ENABLE_TIMING is not defined */
-double _tic_();
-double _toc_(double t);
-double tic_(const std::string& id);
-double toc_(const std::string& id);
-void ticPush_(const std::string& id);
-void ticPop_(const std::string& id);
-void tictoc_print_();
-void tictoc_finishedIteration_();
-
-
-
-// simple class for accumulating execution timing information by name
-class Timing {
-  class Stats {
-  public:
-    std::string label;
-    double t0;
-    double t;
-    double t_max;
-    double t_min;
-    int n;
-  };
-  std::map<std::string, Stats> stats;
-public:
-  void add_t0(const std::string& id, double t0) {
-    stats[id].t0 = t0;
-  }
-  double get_t0(const std::string& id) {
-    return stats[id].t0;
-  }
-  void add_dt(const std::string& id, double dt) {
-    Stats& s = stats[id];
-    s.t += dt;
-    s.n++;
-    if (s.n==1 || s.t_max < dt) s.t_max = dt;
-    if (s.n==1 || s.t_min > dt) s.t_min = dt;
-  }
-  void print();
-
-  double time(const std::string& id) {
-    Stats& s = stats[id];
-    return s.t;
-  }
-};
-
-double _tic_();
-inline double _toc_(double t) {
-  double s = _tic_();
-  return (std::max(0., s-t));
-}
-inline double tic_(const std::string& id) {
-  double t0 = _tic_();
-  timing.add_t0(timingPrefix + " " + id, t0);
-  return t0;
-}
-inline double toc_(const std::string& id) {
-  std::string comb(timingPrefix + " " + id);
-  double dt = _toc_(timing.get_t0(comb));
-  timing.add_dt(comb, dt);
-  return dt;
-}
-inline void ticPush_(const std::string& prefix, const std::string& id) {
-  if(timingPrefix.size() > 0)
-    timingPrefix += ".";
-  timingPrefix += prefix;
-  tic_(id);
-}
-void ticPop_(const std::string& prefix, const std::string& id);
-
-inline void tictoc_print_() {
-  timing.print();
-  timingRoot->print();
-}
-
-/* print mean and standard deviation */
-inline void tictoc_print2_() {
-  timingRoot->print2();
-}
-
-#ifdef ENABLE_TIMING
-inline double _tic() { return _tic_(); }
-inline double _toc(double t) { return _toc_(t); }
-inline double tic(const std::string& id) { return tic_(id); }
-inline double toc(const std::string& id) { return toc_(id); }
-inline void ticPush(const std::string& prefix, const std::string& id) { ticPush_(prefix, id); }
-inline void ticPop(const std::string& prefix, const std::string& id) { ticPop_(prefix, id); }
-inline void tictoc_print() { tictoc_print_(); }
-#else
-inline double _tic() {return 0.;}
-inline double _toc(double) {return 0.;}
-inline double tic(const std::string&) {return 0.;}
-inline double toc(const std::string&) {return 0.;}
-inline void ticPush(const std::string&, const std::string&) {}
-inline void ticPop(const std::string&, const std::string&) {}
-inline void tictoc_print() {}
-#endif
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    timing.h
+ * @brief   Timing utilities
+ * @author  Richard Roberts, Michael Kaess
+ * @date    Oct 5, 2010
+ */
+#pragma once
+
+#include <string>
+#include <map>
+#include <vector>
+#include <boost/shared_ptr.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/timer/timer.hpp>
+
+class TimingOutline;
+extern boost::shared_ptr<TimingOutline> timingRoot;
+extern boost::weak_ptr<TimingOutline> timingCurrent;
+
+class TimingOutline {
+protected:
+  size_t t_;
+  double t2_ ; /* cache the \sum t_i^2 */
+  size_t tIt_;
+  size_t tMax_;
+  size_t tMin_;
+  size_t n_;
+  std::string label_;
+
+  boost::weak_ptr<TimingOutline> parent_;
+  std::vector<boost::shared_ptr<TimingOutline> > children_;
+  boost::timer::cpu_timer timer_;
+
+  void add(size_t usecs);
+
+public:
+
+  TimingOutline(const std::string& label);
+
+  size_t time() const;
+
+  void print(const std::string& outline = "") const;
+
+  void print2(const std::string& outline = "", const double parentTotal = -1.0) const;
+
+  const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
+
+  void tic();
+
+  void toc();
+
+  void finishedIteration();
+
+  friend class AutoTimer;
+  friend void toc_(size_t id);
+  friend void toc_(size_t id, const std::string& label);
+}; // \TimingOutline
+
+void tic_(size_t id, const std::string& label);
+
+void toc_(size_t id);
+
+void toc_(size_t id, const std::string& label);
+
+inline void tictoc_finishedIteration_() {
+  timingRoot->finishedIteration();
+}
+
+#ifdef ENABLE_TIMING
+inline void tic(size_t id, const std::string& label) { tic_(id, label); }
+inline void toc(size_t id) { toc_(id); }
+inline void toc(size_t id, const std::string& label) { toc_(id, label); }
+inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); }
+#else
+inline void tic(size_t, const char*) {}
+inline void toc(size_t) {}
+inline void toc(size_t, const char*) {}
+inline void tictoc_finishedIteration() {}
+#endif
+
+
+inline void tictoc_print_() {
+  timingRoot->print();
+}
+
+/* print mean and standard deviation */
+inline void tictoc_print2_() {
+  timingRoot->print2();
+}
+
+#ifdef ENABLE_OLD_TIMING
+
+// simple class for accumulating execution timing information by name
+class Timing;
+extern Timing timing;
+extern std::string timingPrefix;
+
+double _tic();
+double _toc(double t);
+double tic(const std::string& id);
+double toc(const std::string& id);
+void ticPush(const std::string& id);
+void ticPop(const std::string& id);
+void tictoc_finishedIteration();
+
+/** These underscore versions work evening when ENABLE_TIMING is not defined */
+double _tic_();
+double _toc_(double t);
+double tic_(const std::string& id);
+double toc_(const std::string& id);
+void ticPush_(const std::string& id);
+void ticPop_(const std::string& id);
+void tictoc_finishedIteration_();
+
+
+
+// simple class for accumulating execution timing information by name
+class Timing {
+  class Stats {
+  public:
+    std::string label;
+    double t0;
+    double t;
+    double t_max;
+    double t_min;
+    int n;
+  };
+  std::map<std::string, Stats> stats;
+public:
+  void add_t0(const std::string& id, double t0) {
+    stats[id].t0 = t0;
+  }
+  double get_t0(const std::string& id) {
+    return stats[id].t0;
+  }
+  void add_dt(const std::string& id, double dt) {
+    Stats& s = stats[id];
+    s.t += dt;
+    s.n++;
+    if (s.n==1 || s.t_max < dt) s.t_max = dt;
+    if (s.n==1 || s.t_min > dt) s.t_min = dt;
+  }
+  void print();
+
+  double time(const std::string& id) {
+    Stats& s = stats[id];
+    return s.t;
+  }
+};
+
+double _tic_();
+inline double _toc_(double t) {
+  double s = _tic_();
+  return (std::max(0., s-t));
+}
+inline double tic_(const std::string& id) {
+  double t0 = _tic_();
+  timing.add_t0(timingPrefix + " " + id, t0);
+  return t0;
+}
+inline double toc_(const std::string& id) {
+  std::string comb(timingPrefix + " " + id);
+  double dt = _toc_(timing.get_t0(comb));
+  timing.add_dt(comb, dt);
+  return dt;
+}
+inline void ticPush_(const std::string& prefix, const std::string& id) {
+  if(timingPrefix.size() > 0)
+    timingPrefix += ".";
+  timingPrefix += prefix;
+  tic_(id);
+}
+void ticPop_(const std::string& prefix, const std::string& id);
+
+#ifdef ENABLE_TIMING
+inline double _tic() { return _tic_(); }
+inline double _toc(double t) { return _toc_(t); }
+inline double tic(const std::string& id) { return tic_(id); }
+inline double toc(const std::string& id) { return toc_(id); }
+inline void ticPush(const std::string& prefix, const std::string& id) { ticPush_(prefix, id); }
+inline void ticPop(const std::string& prefix, const std::string& id) { ticPop_(prefix, id); }
+inline void tictoc_print() { tictoc_print_(); }
+#else
+inline double _tic() {return 0.;}
+inline double _toc(double) {return 0.;}
+inline double tic(const std::string&) {return 0.;}
+inline double toc(const std::string&) {return 0.;}
+inline void ticPush(const std::string&, const std::string&) {}
+inline void ticPop(const std::string&, const std::string&) {}
+inline void tictoc_print() {}
+#endif
+
+#endif
\ No newline at end of file
diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 073097ee2..a0901c58b 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -140,19 +140,13 @@ SharedDiagonal Gaussian::Cholesky(Matrix& Ab, size_t nFrontals) const {
   // TODO: really no rank problems ?
 
   // pre-whiten everything (cheaply if possible)
-  tic("Cholesky: 1 whiten");
   WhitenInPlace(Ab);
-  toc("Cholesky: 1 whiten");
 
   // Form A'*A (todo: this is probably less efficient than possible)
-  tic("Cholesky: 2 A' * A");
   Ab = Ab.transpose() * Ab;
-  toc("Cholesky: 2 A' * A");
 
   // Use Cholesky to factor Ab
-  tic("Cholesky: 3 careful");
   size_t maxrank = choleskyCareful(Ab).first;
-  toc("Cholesky: 3 careful");
 
   // Due to numerical error the rank could appear to be more than the number
   // of variables.  The important part is that it does not includes the