diff --git a/CMakeLists.txt b/CMakeLists.txt
index 236bb50..f11e579 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -771,12 +771,6 @@
               "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
         DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
 
-# Install codegen cmake scripts
-install(FILES "${Ceres_SOURCE_DIR}/cmake/codegen_include.inc.in"
-              "${Ceres_SOURCE_DIR}/cmake/generate_code_for_functor.cc.in"
-              "${Ceres_SOURCE_DIR}/cmake/CeresCodeGeneration.cmake"
-        DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
-
 if (PROVIDE_UNINSTALL_TARGET)
   # Create an uninstall target to remove all installed files.
   configure_file("${Ceres_SOURCE_DIR}/cmake/uninstall.cmake.in"
diff --git a/cmake/CeresCodeGeneration.cmake b/cmake/CeresCodeGeneration.cmake
deleted file mode 100644
index f3819ce..0000000
--- a/cmake/CeresCodeGeneration.cmake
+++ /dev/null
@@ -1,153 +0,0 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2019 Google Inc. All rights reserved.
-# http://ceres-solver.org/
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# * Redistributions of source code must retain the above copyright notice,
-#   this list of conditions and the following disclaimer.
-# * Redistributions in binary form must reproduce the above copyright notice,
-#   this list of conditions and the following disclaimer in the documentation
-#   and/or other materials provided with the distribution.
-# * Neither the name of Google Inc. nor the names of its contributors may be
-#   used to endorse or promote products derived from this software without
-#   specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-# Author: darius.rueckert@fau.de (Darius Rueckert)
-
-# The directory containing the following files
-#   - codegen_include.h.in
-#   - generate_code_from_functor.cc.in
-set(CODEGEN_CMAKE_SCRIPT_DIR "${CMAKE_CURRENT_LIST_DIR}")
-
-# Generates C-code implementation of Ceres' CostFunction::Evaluate() API from a
-# templated C++ cost functor derived from ceres::CodegenCostFunction using
-# autodiff. The resulting implementation replaces the direct instantiation of
-# autodiff in client code, typically resulting in improved performance.
-#
-# Parameters:
-#
-# NAME
-#     The name of the cost functor. The name must exactly match the C++ type
-#     name of the functor. This is also the name of the CMake output target.
-# NAMESPACE [optional]
-#     The C++ namespace of the cost functor type. For example, if the full
-#     type name is ceres::BundleAdjust, then NAME should be "BundleAdjust"
-#     and NAMESPACE should be "ceres".
-# INPUT_FILE
-#     The path to the header defining the cost functor <NAME>.
-# OUTPUT_DIRECTORY [default = "generated"]
-#     The relative output directory of the generated header file. This is the
-#     prefix that has to be added to the #include of the generated files, i.e:
-#     #include "<OUTPUT_DIRECTORY>/<GENERATED_FILE.h>"
-
-#
-# Example Usage:
-#   ceres_generate_cost_function_implementation_for_functor(
-#       NAME SquareFunctor
-#       INPUT_FILE ${CMAKE_CURRENT_SOURCE_DIR}/square_functor.h
-#       )
-#   add_executable(helloworld_codegen helloworld_codegen.cc )
-#   target_link_libraries(helloworld_codegen ceres SquareFunctor)
-function(ceres_generate_cost_function_implementation_for_functor)
-  # Define and parse arguments
-  set(OPTIONAL_ARGS)
-  set(ONE_VALUE_ARGS NAME INPUT_FILE OUTPUT_DIRECTORY NAMESPACE)
-  set(MULTI_VALUE_ARGS)
-  cmake_parse_arguments(
-    COST_FUNCTOR "${OPTIONAL_ARGS}" "${ONE_VALUE_ARGS}"
-    "${MULTI_VALUE_ARGS}" ${ARGN} )
-
-  # Default value of the output directory
-  set(OUTPUT_DIRECTORY "generated")
-  if(COST_FUNCTOR_OUTPUT_DIRECTORY)
-    set(OUTPUT_DIRECTORY "${COST_FUNCTOR_OUTPUT_DIRECTORY}")
-  endif()
-
-  set(CALLER_CODEGEN_BUILD_DIR "${PROJECT_BINARY_DIR}/codegen")
-  set(CALLER_CODEGEN_INCLUDE_DIR "${CALLER_CODEGEN_BUILD_DIR}/include/")
-
-  file(MAKE_DIRECTORY
-    "${CALLER_CODEGEN_BUILD_DIR}")
-  file(MAKE_DIRECTORY
-    "${CALLER_CODEGEN_INCLUDE_DIR}/${OUTPUT_DIRECTORY}")
-  file(MAKE_DIRECTORY
-    "${CALLER_CODEGEN_BUILD_DIR}/src")
-
-  # Convert the input file to an absolute path and check if it exists
-  get_filename_component(
-    COST_FUNCTOR_INPUT_FILE "${COST_FUNCTOR_INPUT_FILE}" REALPATH)
-  if(NOT EXISTS "${COST_FUNCTOR_INPUT_FILE}")
-    message(FATAL_ERROR
-      "Could not find codegen input file ${COST_FUNCTOR_INPUT_FILE}")
-  endif()
-
-
-  # The full C++ type name of the cost functor. This is used inside the
-  # generator to create an object of it.
-  set(FULL_CXX_FUNCTOR_TYPE_NAME "${COST_FUNCTOR_NAME}")
-  if(COST_FUNCTOR_NAMESPACE)
-    set(FULL_CXX_FUNCTOR_TYPE_NAME
-      "${COST_FUNCTOR_NAMESPACE}::${FULL_CXX_FUNCTOR_TYPE_NAME}")
-  endif()
-
-  # 1. Generate a wrapper include file which is included by the user.
-  #    This is required, because
-  #      - It must exist during compiliation of the code generator (otherwise
-  #        the #include will fail)
-  #      - We don't want to have the users add macros to their code
-  string(TOLOWER "${COST_FUNCTOR_NAME}" LOWER_CASE_FUNCTOR_NAME)
-  set(INCLUDE_FILE
-    "${CALLER_CODEGEN_INCLUDE_DIR}/${OUTPUT_DIRECTORY}/${LOWER_CASE_FUNCTOR_NAME}.h")
-  configure_file("${CODEGEN_CMAKE_SCRIPT_DIR}/codegen_include.inc.in" "${INCLUDE_FILE}")
-
-  # 2. Generate the source file for the code generator
-  set(GENERATOR_SOURCE
-    "${CALLER_CODEGEN_BUILD_DIR}/src/${LOWER_CASE_FUNCTOR_NAME}_code_generator.cc")
-  set(GENERATED_EVALUATION_IMPL_FILE
-    "${CALLER_CODEGEN_INCLUDE_DIR}/${OUTPUT_DIRECTORY}/${LOWER_CASE_FUNCTOR_NAME}_evaluate_impl.inc")
-  configure_file(
-    "${CODEGEN_CMAKE_SCRIPT_DIR}/generate_code_for_functor.cc.in" "${GENERATOR_SOURCE}")
-
-  # 3. Build the executable that generates the autodiff code
-  set(GENERATOR_TARGET ${COST_FUNCTOR_NAME}_generator)
-  add_executable(${GENERATOR_TARGET} "${GENERATOR_SOURCE}")
-  target_link_libraries(${GENERATOR_TARGET} ceres)
-  set_target_properties(${GENERATOR_TARGET} PROPERTIES
-    RUNTIME_OUTPUT_DIRECTORY "${CALLER_CODEGEN_BUILD_DIR}/bin")
-  target_compile_definitions(${GENERATOR_TARGET} PRIVATE -DCERES_CODEGEN)
-  target_include_directories(${GENERATOR_TARGET}
-    PRIVATE "${CALLER_CODEGEN_INCLUDE_DIR}")
-
-  # 4. Execute the program from (3.) using a custom command
-  add_custom_command(OUTPUT "${GENERATED_EVALUATION_IMPL_FILE}"
-    COMMAND ${GENERATOR_TARGET}
-    DEPENDS "${COST_FUNCTOR_INPUT_FILE}"
-    VERBATIM
-    )
-  set(GENERATE_TARGET ${COST_FUNCTOR_NAME}_generate)
-  add_custom_target(${GENERATE_TARGET} DEPENDS "${GENERATED_EVALUATION_IMPL_FILE}" VERBATIM)
-
-  # 5. Create an output target which can be used by the client. This is required,
-  #    because custom targets can't have include directories.
-  set(OUTPUT_TARGET ${COST_FUNCTOR_NAME})
-  add_library(${OUTPUT_TARGET} INTERFACE)
-  target_include_directories(
-    ${OUTPUT_TARGET} INTERFACE "${CALLER_CODEGEN_INCLUDE_DIR}")
-  target_sources(
-    ${OUTPUT_TARGET} INTERFACE "${INCLUDE_FILE}" "${GENERATED_EVALUATION_IMPL_FILE}")
-  add_dependencies(${OUTPUT_TARGET} ${GENERATE_TARGET})
-endfunction()
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
index cb0fd7b..ced7daf 100644
--- a/cmake/CeresConfig.cmake.in
+++ b/cmake/CeresConfig.cmake.in
@@ -166,10 +166,6 @@
 include(CMakeFindDependencyMacro)
 find_dependency(Threads)
 
-# Import code generation functions s/t they are available for use in client code
-# if find_package(Ceres) is successful.
-include(CeresCodeGeneration)
-
 # Eigen.
 # Flag set during configuration and build of Ceres.
 set(CERES_EIGEN_VERSION @EIGEN3_VERSION_STRING@)
diff --git a/cmake/codegen_include.inc.in b/cmake/codegen_include.inc.in
deleted file mode 100644
index f52485b..0000000
--- a/cmake/codegen_include.inc.in
+++ /dev/null
@@ -1,10 +0,0 @@
-// This file is generated by Ceres autodiff code generation.
-// http://ceres-solver.org/
-
-#ifdef CERES_CODEGEN
-// Included by generator during generation of autodiff evaluation implementation,
-// by definition the generated implementation does not yet exist to be imported.
-#else
-// Included from client code, import generated implementation.
-#include "@OUTPUT_DIRECTORY@/@LOWER_CASE_FUNCTOR_NAME@_evaluate_impl.inc"
-#endif
diff --git a/cmake/generate_code_for_functor.cc.in b/cmake/generate_code_for_functor.cc.in
deleted file mode 100644
index e259f71..0000000
--- a/cmake/generate_code_for_functor.cc.in
+++ /dev/null
@@ -1,27 +0,0 @@
-// This file is generated by Ceres autodiff code generation."
-// http://ceres-solver.org/
-
-#include <cstdlib>
-#include <fstream>
-#include <iostream>
-#include <string>
-#include <vector>
-
-#include "ceres/codegen/generate_code_for_functor.h"
-#include "@COST_FUNCTOR_INPUT_FILE@"
-
-int main() {
-  const std::vector<std::string> lines =
-      ceres::GenerateCodeForFunctor<@FULL_CXX_FUNCTOR_TYPE_NAME@>(
-          ceres::AutoDiffCodeGenOptions());
-  const std::string output_file = "@GENERATED_EVALUATION_IMPL_FILE@";
-  std::ofstream stream(output_file);
-  if (!stream.is_open()) {
-    std::cerr << "Could not open file " << output_file << std::endl;
-    return EXIT_FAILURE;
-  }
-  for (const auto& line : lines) {
-    stream << line << std::endl;
-  }
-  return EXIT_SUCCESS;
-}