diff --git a/.cproject b/.cproject
index 4e91622c1..30d73c4b9 100644
--- a/.cproject
+++ b/.cproject
@@ -1778,6 +1778,70 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="gtsam-shared" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>gtsam-shared</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check.tests" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check.tests</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests.testSerialization.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests.testSerialization.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing.inference" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>timing.inference</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing.linear" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>timing.linear</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing.nonlinear" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>timing.nonlinear</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing.slam" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>timing.slam</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing.tests" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>timing.tests</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/CMakeLists.txt b/CMakeLists.txt
index eee2aeeea..aa4cfa2f6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,7 @@ add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
 add_custom_target(timing)
 
 # Find boost
-find_package(Boost 1.40 REQUIRED)
+find_package(Boost 1.40 COMPONENTS serialization REQUIRED)
 
 # General build settings
 include_directories(
@@ -64,7 +64,7 @@ add_subdirectory(gtsam)
 add_subdirectory(CppUnitLite)
 
 # Build Tests
-#add_subdirectory(tests)
+add_subdirectory(tests)
 
 # Build wrap
 #add_subdirectory(wrap)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 099307363..be4ed17dc 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,31 +1,43 @@
-include_directories(
-  3rdparty/UFconfig 
-  3rdparty/CCOLAMD/Include
-  ${CMAKE_SOURCE_DIR})
+# Convenience targets
+add_custom_target(check.tests COMMAND ${CMAKE_CTEST_COMMAND})
+add_custom_target(timing.tests)
 
-find_package(Boost COMPONENTS serialization REQUIRED)
+set(tests_local_libs
+   slam
+   nonlinear
+   linear
+   inference
+   geometry
+   base
+   ccolamd
+   CppUnitLite
+   ${Boost_LIBRARIES}
+)
 
 # Build tests
 file(GLOB tests_srcs "test*.cpp")
 foreach(test_src ${tests_srcs})
     get_filename_component(test_base ${test_src} NAME_WE)
-    set( test_bin ${test_base} )
-    add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
+    set( test_bin tests.${test_base} )
+    message(STATUS "Adding Test ${test_bin}") 
+    add_executable(${test_bin} ${test_src})
+    add_dependencies(check.tests ${test_bin})
     add_dependencies(check ${test_bin})
-    add_dependencies(${test_bin} ${PROJECT_NAME}-static)
-    add_test(${test_bin} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-    target_link_libraries(${test_bin} CppUnitLite gtsam-static ${Boost_SERIALIZATION_LIBRARY})
-    add_custom_target(${test_base}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    target_link_libraries(${test_bin} ${tests_local_libs})
+    add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
 endforeach(test_src)
 
 # Build timing scripts
-file(GLOB time_srcs "time*.cpp") 
-foreach(time_src ${time_srcs})
+file(GLOB timing_srcs "time*.cpp") 
+foreach(time_src ${timing_srcs})
     get_filename_component(time_base ${time_src} NAME_WE)
-    set( time_bin ${time_base} )
-    add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
+    set( time_bin tests.${time_base} )
+    message(STATUS "Adding Timing Benchmark ${time_bin}")
+    add_executable(${time_bin} ${time_src})
+    add_dependencies(timing.tests ${time_bin})
     add_dependencies(timing ${time_bin})
-    add_dependencies(${test_bin} ${PROJECT_NAME}-static)
-    target_link_libraries(${time_bin} CppUnitLite gtsam-static)
-    add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-endforeach(time_src)
\ No newline at end of file
+    target_link_libraries(${time_bin} ${tests_local_libs})
+    add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+endforeach(time_src)
+
diff --git a/tests/testSerialization.cpp b/tests/testSerialization.cpp
index 4f499b393..72132deb6 100644
--- a/tests/testSerialization.cpp
+++ b/tests/testSerialization.cpp
@@ -159,8 +159,6 @@ bool equalsDereferencedXML(const T& input = T()) {
 #include <gtsam/slam/pose3SLAM.h>
 #include <gtsam/slam/visualSLAM.h>
 
-#include <gtsam/inference/BayesTree-inl.h>
-
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
@@ -438,9 +436,9 @@ TEST (Serialization, gaussianISAM) {
 
 /* ************************************************************************* */
 /* Create GUIDs for factors in simulated2D */
-BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Prior,       "gtsam::simulated2D::Prior"      );
-BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Odometry,    "gtsam::simulated2D::Odometry"   );
-BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Measurement, "gtsam::simulated2D::Measurement");
+BOOST_CLASS_EXPORT_GUID(simulated2D::Prior,       "gtsam::simulated2D::Prior"      );
+BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry,    "gtsam::simulated2D::Odometry"   );
+BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement");
 /* ************************************************************************* */
 TEST (Serialization, smallExample) {
 	using namespace example;
@@ -455,12 +453,12 @@ TEST (Serialization, smallExample) {
 
 /* ************************************************************************* */
 /* Create GUIDs for factors */
-BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Prior,       "gtsam::planarSLAM::Prior");
-BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Bearing,     "gtsam::planarSLAM::Bearing");
-BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Range,       "gtsam::planarSLAM::Range");
-BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::BearingRange,"gtsam::planarSLAM::BearingRange");
-BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Odometry,    "gtsam::planarSLAM::Odometry");
-BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Constraint,  "gtsam::planarSLAM::Constraint");
+BOOST_CLASS_EXPORT_GUID(planarSLAM::Prior,       "gtsam::planarSLAM::Prior");
+BOOST_CLASS_EXPORT_GUID(planarSLAM::Bearing,     "gtsam::planarSLAM::Bearing");
+BOOST_CLASS_EXPORT_GUID(planarSLAM::Range,       "gtsam::planarSLAM::Range");
+BOOST_CLASS_EXPORT_GUID(planarSLAM::BearingRange,"gtsam::planarSLAM::BearingRange");
+BOOST_CLASS_EXPORT_GUID(planarSLAM::Odometry,    "gtsam::planarSLAM::Odometry");
+BOOST_CLASS_EXPORT_GUID(planarSLAM::Constraint,  "gtsam::planarSLAM::Constraint");
 /* ************************************************************************* */
 TEST (Serialization, planar_system) {
 	using namespace planarSLAM;
@@ -514,12 +512,12 @@ TEST (Serialization, planar_system) {
 
 /* ************************************************************************* */
 /* Create GUIDs for factors */
-BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PoseConstraint,  "gtsam::visualSLAM::PoseConstraint");
-BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PointConstraint, "gtsam::visualSLAM::PointConstraint");
-BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PosePrior,       "gtsam::visualSLAM::PosePrior");
-BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PointPrior,      "gtsam::visualSLAM::PointPrior");
-BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::ProjectionFactor,"gtsam::visualSLAM::ProjectionFactor");
-BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::StereoFactor,    "gtsam::visualSLAM::StereoFactor");
+BOOST_CLASS_EXPORT_GUID(visualSLAM::PoseConstraint,  "gtsam::visualSLAM::PoseConstraint");
+BOOST_CLASS_EXPORT_GUID(visualSLAM::PointConstraint, "gtsam::visualSLAM::PointConstraint");
+BOOST_CLASS_EXPORT_GUID(visualSLAM::PosePrior,       "gtsam::visualSLAM::PosePrior");
+BOOST_CLASS_EXPORT_GUID(visualSLAM::PointPrior,      "gtsam::visualSLAM::PointPrior");
+BOOST_CLASS_EXPORT_GUID(visualSLAM::ProjectionFactor,"gtsam::visualSLAM::ProjectionFactor");
+BOOST_CLASS_EXPORT_GUID(visualSLAM::StereoFactor,    "gtsam::visualSLAM::StereoFactor");
 
 /* ************************************************************************* */
 TEST (Serialization, visual_system) {