diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 415aa0dc4..0dc23c160 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -547,6 +547,12 @@ class EssentialMatrix {
   // Standard Constructors
   EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb);
 
+  // Constructors from Pose3
+  gtsam::EssentialMatrix FromPose3(const gtsam::Pose3& _1P2_);
+
+  gtsam::EssentialMatrix FromPose3(const gtsam::Pose3& _1P2_,
+                            Eigen::Ref<Eigen::MatrixXd> H);
+
   // Testable
   void print(string s = "") const;
   bool equals(const gtsam::EssentialMatrix& pose, double tol) const;
@@ -904,6 +910,12 @@ class PinholeCamera {
                             Eigen::Ref<Eigen::MatrixXd> Dresult_dp,
                             Eigen::Ref<Eigen::MatrixXd> Dresult_ddepth,
                             Eigen::Ref<Eigen::MatrixXd> Dresult_dcal);
+
+  gtsam::Point2 reprojectionError(const gtsam::Point3& pw, const gtsam::Point2& measured,
+                                  Eigen::Ref<Eigen::MatrixXd> Dpose,
+                                  Eigen::Ref<Eigen::MatrixXd> Dpoint,
+                                  Eigen::Ref<Eigen::MatrixXd> Dcal);
+
   double range(const gtsam::Point3& point);
   double range(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
                Eigen::Ref<Eigen::MatrixXd> Dpoint);
@@ -914,7 +926,74 @@ class PinholeCamera {
   // enabling serialization functionality
   void serialize() const;
 };
-  
+
+// Forward declaration of PinholeCameraCalX is defined here.
+#include <gtsam/geometry/SimpleCamera.h>
+// Some typedefs for common camera types
+// PinholeCameraCal3_S2 is the same as SimpleCamera above
+typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
+typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
+typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
+typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
+typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye;
+
+#include <gtsam/geometry/PinholePose.h>
+template <CALIBRATION>
+class PinholePose {
+  // Standard Constructors and Named Constructors
+  PinholePose();
+  PinholePose(const gtsam::PinholePose<CALIBRATION> other);
+  PinholePose(const gtsam::Pose3& pose);
+  PinholePose(const gtsam::Pose3& pose, const CALIBRATION* K);
+  static This Level(const gtsam::Pose2& pose, double height);
+  static This Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
+                     const gtsam::Point3& upVector, const CALIBRATION* K);
+
+  // Testable
+  void print(string s = "PinholePose") const;
+  bool equals(const This& camera, double tol) const;
+
+  // Standard Interface
+  gtsam::Pose3 pose() const;
+  CALIBRATION calibration() const;
+
+  // Manifold
+  This retract(Vector d) const;
+  Vector localCoordinates(const This& T2) const;
+  size_t dim() const;
+  static size_t Dim();
+
+  // Transformations and measurement functions
+  static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
+  pair<gtsam::Point2, bool> projectSafe(const gtsam::Point3& pw) const;
+  gtsam::Point2 project(const gtsam::Point3& point);
+  gtsam::Point2 project(const gtsam::Point3& point,
+                        Eigen::Ref<Eigen::MatrixXd> Dpose,
+                        Eigen::Ref<Eigen::MatrixXd> Dpoint,
+                        Eigen::Ref<Eigen::MatrixXd> Dcal);
+  gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
+  gtsam::Point3 backproject(const gtsam::Point2& p, double depth,
+                            Eigen::Ref<Eigen::MatrixXd> Dresult_dpose,
+                            Eigen::Ref<Eigen::MatrixXd> Dresult_dp,
+                            Eigen::Ref<Eigen::MatrixXd> Dresult_ddepth,
+                            Eigen::Ref<Eigen::MatrixXd> Dresult_dcal);
+  double range(const gtsam::Point3& point);
+  double range(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
+               Eigen::Ref<Eigen::MatrixXd> Dpoint);
+  double range(const gtsam::Pose3& pose);
+  double range(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Dcamera,
+               Eigen::Ref<Eigen::MatrixXd> Dpose);
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+typedef gtsam::PinholePose<gtsam::Cal3_S2> PinholePoseCal3_S2;
+typedef gtsam::PinholePose<gtsam::Cal3DS2> PinholePoseCal3DS2;
+typedef gtsam::PinholePose<gtsam::Cal3Unified> PinholePoseCal3Unified;
+typedef gtsam::PinholePose<gtsam::Cal3Bundler> PinholePoseCal3Bundler;
+typedef gtsam::PinholePose<gtsam::Cal3Fisheye> PinholePoseCal3Fisheye;
+
 #include <gtsam/geometry/Similarity2.h>
 class Similarity2 {
   // Standard Constructors
@@ -961,16 +1040,6 @@ class Similarity3 {
   double scale() const;
 };
 
-// Forward declaration of PinholeCameraCalX is defined here.
-#include <gtsam/geometry/SimpleCamera.h>
-// Some typedefs for common camera types
-// PinholeCameraCal3_S2 is the same as SimpleCamera above
-typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
-typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
-typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
-typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
-typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye;
-
 template <T>
 class CameraSet {
   CameraSet();
diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index f1bc92f69..943b661d8 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -671,6 +671,10 @@ virtual class DummyPreconditionerParameters : gtsam::PreconditionerParameters {
   DummyPreconditionerParameters();
 };
 
+virtual class BlockJacobiPreconditionerParameters : gtsam::PreconditionerParameters {
+  BlockJacobiPreconditionerParameters();
+};
+
 #include <gtsam/linear/PCGSolver.h>
 virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters {
   PCGSolverParameters();
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 3fff71978..30181e08d 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -226,6 +226,10 @@ class Values {
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
+  void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
+  void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
+  void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
+  void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void insert(size_t j, const gtsam::NavState& nav_state);
   void insert(size_t j, double c);
@@ -269,6 +273,10 @@ class Values {
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
+  void update(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
+  void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
+  void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
+  void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void update(size_t j, const gtsam::NavState& nav_state);
   void update(size_t j, Vector vector);
@@ -310,6 +318,10 @@ class Values {
   void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
   void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void insert_or_assign(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void insert_or_assign(size_t j, const gtsam::NavState& nav_state);
   void insert_or_assign(size_t j, Vector vector);
@@ -351,6 +363,10 @@ class Values {
                  gtsam::PinholeCamera<gtsam::Cal3Bundler>,
                  gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
                  gtsam::PinholeCamera<gtsam::Cal3Unified>,
+                 gtsam::PinholePose<gtsam::Cal3_S2>,
+                 gtsam::PinholePose<gtsam::Cal3Bundler>,
+                 gtsam::PinholePose<gtsam::Cal3Fisheye>,
+                 gtsam::PinholePose<gtsam::Cal3Unified>,
                  gtsam::imuBias::ConstantBias,
                  gtsam::NavState,
                  Vector,
diff --git a/gtsam/sfm/SfmData.h b/gtsam/sfm/SfmData.h
index afce12205..430e107ad 100644
--- a/gtsam/sfm/SfmData.h
+++ b/gtsam/sfm/SfmData.h
@@ -77,10 +77,14 @@ struct GTSAM_EXPORT SfmData {
   size_t numberCameras() const { return cameras.size(); }
 
   /// The track formed by series of landmark measurements
-  SfmTrack track(size_t idx) const { return tracks[idx]; }
+  const SfmTrack& track(size_t idx) const { return tracks[idx]; }
 
   /// The camera pose at frame index `idx`
-  SfmCamera camera(size_t idx) const { return cameras[idx]; }
+  const SfmCamera& camera(size_t idx) const { return cameras[idx]; }
+
+  /// Getters
+  const std::vector<SfmCamera>& cameraList() const { return cameras; }
+  const std::vector<SfmTrack>& trackList() const { return tracks; }
 
   /**
    * @brief Create projection factors using keys i and P(j)
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index bf9a73ac5..19e21b10c 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -9,6 +9,8 @@ class SfmTrack {
   SfmTrack();
   SfmTrack(const gtsam::Point3& pt);
   const Point3& point3() const;
+  
+  Point3 p;
 
   double r;
   double g;
@@ -34,12 +36,15 @@ class SfmData {
   static gtsam::SfmData FromBundlerFile(string filename);
   static gtsam::SfmData FromBalFile(string filename);
 
+  std::vector<gtsam::SfmTrack>& trackList() const;
+  std::vector<gtsam::PinholeCamera<gtsam::Cal3Bundler>>& cameraList() const;
+
   void addTrack(const gtsam::SfmTrack& t);
   void addCamera(const gtsam::SfmCamera& cam);
   size_t numberTracks() const;
   size_t numberCameras() const;
-  gtsam::SfmTrack track(size_t idx) const;
-  gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
+  gtsam::SfmTrack& track(size_t idx) const;
+  gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera(size_t idx) const;
 
   gtsam::NonlinearFactorGraph generalSfmFactors(
       const gtsam::SharedNoiseModel& model =
@@ -91,6 +96,13 @@ class BinaryMeasurementsUnit3 {
   void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3>& measurement);
 };
 
+class BinaryMeasurementsRot3 {
+  BinaryMeasurementsRot3();
+  size_t size() const;
+  gtsam::BinaryMeasurement<gtsam::Rot3> at(size_t idx) const;
+  void push_back(const gtsam::BinaryMeasurement<gtsam::Rot3>& measurement);
+};
+
 #include <gtsam/sfm/ShonanAveraging.h>
 
 // TODO(frank): copy/pasta below until we have integer template paremeters in
@@ -184,6 +196,10 @@ class ShonanAveraging2 {
 };
 
 class ShonanAveraging3 {
+  ShonanAveraging3(
+      const std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>& measurements,
+      const gtsam::ShonanAveragingParameters3& parameters =
+          gtsam::ShonanAveragingParameters3());
   ShonanAveraging3(string g2oFile);
   ShonanAveraging3(string g2oFile,
                    const gtsam::ShonanAveragingParameters3& parameters);
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index dc450a9f7..7c4d7fea7 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -223,6 +223,7 @@ parse3DFactors(const std::string &filename,
                size_t maxIndex = 0);
 
 using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>;
+using BinaryMeasurementsRot3 = std::vector<BinaryMeasurement<Rot3>>;
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
 inline boost::optional<IndexedPose> GTSAM_DEPRECATED
diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index 4e943253e..8e1e06d5b 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -90,6 +90,22 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Unified>,
                                 gtsam::Point3>
     GeneralSFMFactorCal3Unified;
 
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3_S2>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3_S2;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3DS2>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3DS2;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3Bundler>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3Bundler;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3Fisheye>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3Fisheye;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3Unified>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3Unified;
+
 template <CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler,
                          gtsam::Cal3Fisheye, gtsam::Cal3Unified}>
 virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index d3cbff32d..0c8dc314b 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -48,6 +48,7 @@ set(ignore
     gtsam::Rot3Vector
     gtsam::KeyVector
     gtsam::BinaryMeasurementsUnit3
+    gtsam::BinaryMeasurementsRot3
     gtsam::DiscreteKey
     gtsam::KeyPairDoubleMap)
 
@@ -107,6 +108,14 @@ file(GLOB GTSAM_PYTHON_UTIL_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/utils/*.py"
 foreach(util_file ${GTSAM_PYTHON_UTIL_FILES})
         configure_file(${util_file} "${GTSAM_MODULE_PATH}/utils/${test_file}" COPYONLY)
 endforeach()
+file(GLOB GTSAM_PYTHON_PREAMBLE_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/preamble/*.h")
+foreach(util_file ${GTSAM_PYTHON_PREAMBLE_FILES})
+        configure_file(${util_file} "${GTSAM_MODULE_PATH}/preamble/${test_file}" COPYONLY)
+endforeach()
+file(GLOB GTSAM_PYTHON_SPECIALIZATION_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/specializations/*.h")
+foreach(util_file ${GTSAM_PYTHON_SPECIALIZATION_FILES})
+        configure_file(${util_file} "${GTSAM_MODULE_PATH}/specializations/${test_file}" COPYONLY)
+endforeach()
 
 # Common directory for data/datasets stored with the package.
 # This will store the data in the Python site package directly.
@@ -129,6 +138,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::KeyVector
             gtsam::FixedLagSmootherKeyTimestampMapValue
             gtsam::BinaryMeasurementsUnit3
+            gtsam::BinaryMeasurementsRot3
             gtsam::CameraSetCal3_S2
             gtsam::CameraSetCal3Bundler
             gtsam::CameraSetCal3Unified
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index a34e73058..8ff0ea82e 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -9,4 +9,18 @@
  * automatic STL binding, such that the raw objects can be accessed in Python.
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
- */
\ No newline at end of file
+ */
+
+// Including <stl.h> can cause some serious hard-to-debug bugs!!!
+// #include <pybind11/stl.h>
+#include <pybind11/stl_bind.h>
+
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::SfmTrack>);
+
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::SfmCamera>);
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::BinaryMeasurement<gtsam::Unit3>>);
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 6de15217f..90a2b8417 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -13,4 +13,19 @@
 
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
     m_, "BinaryMeasurementsUnit3");
+py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Rot3> > >(
+    m_, "BinaryMeasurementsRot3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
+
+py::bind_vector<
+    std::vector<gtsam::SfmTrack> >(
+    m_, "SfmTracks");
+
+py::bind_vector<
+    std::vector<gtsam::SfmCamera> >(
+    m_, "SfmCameras");
+
+py::bind_vector<
+    std::vector<std::pair<size_t, gtsam::Point2>>>(
+        m_, "SfmMeasurementVector"
+    );