diff --git a/gtsam_unstable/geometry/TriangulationFactor.h b/gtsam/geometry/TriangulationFactor.h
similarity index 100%
rename from gtsam_unstable/geometry/TriangulationFactor.h
rename to gtsam/geometry/TriangulationFactor.h
diff --git a/gtsam_unstable/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
similarity index 99%
rename from gtsam_unstable/geometry/tests/testTriangulation.cpp
rename to gtsam/geometry/tests/testTriangulation.cpp
index 8d45311f1..fb05bcf9f 100644
--- a/gtsam_unstable/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -16,7 +16,7 @@
  *      Author: cbeall3
  */
 
-#include <gtsam_unstable/geometry/triangulation.h>
+#include <gtsam/geometry/triangulation.h>
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <CppUnitLite/TestHarness.h>
 
diff --git a/gtsam_unstable/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
similarity index 98%
rename from gtsam_unstable/geometry/triangulation.cpp
rename to gtsam/geometry/triangulation.cpp
index 3017fdf7a..9e1575801 100644
--- a/gtsam_unstable/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -16,7 +16,7 @@
  * @author Chris Beall
  */
 
-#include <gtsam_unstable/geometry/triangulation.h>
+#include <gtsam/geometry/triangulation.h>
 
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam_unstable/geometry/triangulation.h b/gtsam/geometry/triangulation.h
similarity index 97%
rename from gtsam_unstable/geometry/triangulation.h
rename to gtsam/geometry/triangulation.h
index f767514c1..6899c616a 100644
--- a/gtsam_unstable/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -18,8 +18,8 @@
 
 #pragma once
 
-#include <gtsam_unstable/base/dllexport.h>
-#include <gtsam_unstable/geometry/TriangulationFactor.h>
+
+#include <gtsam/geometry/TriangulationFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/slam/PriorFactor.h>
@@ -52,7 +52,7 @@ public:
  * @param rank_tol SVD rank tolerance
  * @return Triangulated Point3
  */
-GTSAM_UNSTABLE_EXPORT Point3 triangulateDLT(
+GTSAM_EXPORT Point3 triangulateDLT(
     const std::vector<Matrix>& projection_matrices,
     const std::vector<Point2>& measurements, double rank_tol);
 
@@ -120,7 +120,7 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
  * @param landmarkKey to refer to landmark
  * @return refined Point3
  */
-GTSAM_UNSTABLE_EXPORT Point3 optimize(const NonlinearFactorGraph& graph,
+GTSAM_EXPORT Point3 optimize(const NonlinearFactorGraph& graph,
     const Values& values, Key landmarkKey);
 
 /**
diff --git a/gtsam_unstable/slam/ImplicitSchurFactor.h b/gtsam/slam/ImplicitSchurFactor.h
similarity index 100%
rename from gtsam_unstable/slam/ImplicitSchurFactor.h
rename to gtsam/slam/ImplicitSchurFactor.h
diff --git a/gtsam_unstable/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h
similarity index 100%
rename from gtsam_unstable/slam/JacobianFactorQ.h
rename to gtsam/slam/JacobianFactorQ.h
diff --git a/gtsam_unstable/slam/JacobianFactorQR.h b/gtsam/slam/JacobianFactorQR.h
similarity index 96%
rename from gtsam_unstable/slam/JacobianFactorQR.h
rename to gtsam/slam/JacobianFactorQR.h
index 2d2d5b7a4..a928106a8 100644
--- a/gtsam_unstable/slam/JacobianFactorQR.h
+++ b/gtsam/slam/JacobianFactorQR.h
@@ -6,7 +6,7 @@
  */
 
 #pragma once
-#include <gtsam_unstable/slam/JacobianSchurFactor.h>
+#include <gtsam/slam/JacobianSchurFactor.h>
 
 namespace gtsam {
 /**
diff --git a/gtsam_unstable/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h
similarity index 97%
rename from gtsam_unstable/slam/JacobianFactorSVD.h
rename to gtsam/slam/JacobianFactorSVD.h
index e8ade3b1b..e28185038 100644
--- a/gtsam_unstable/slam/JacobianFactorSVD.h
+++ b/gtsam/slam/JacobianFactorSVD.h
@@ -5,7 +5,7 @@
  */
 
 #pragma once
-#include "gtsam_unstable/slam/JacobianSchurFactor.h"
+#include "gtsam/slam/JacobianSchurFactor.h"
 
 namespace gtsam {
 /**
diff --git a/gtsam_unstable/slam/JacobianSchurFactor.h b/gtsam/slam/JacobianSchurFactor.h
similarity index 100%
rename from gtsam_unstable/slam/JacobianSchurFactor.h
rename to gtsam/slam/JacobianSchurFactor.h
diff --git a/gtsam_unstable/slam/RegularHessianFactor.h b/gtsam/slam/RegularHessianFactor.h
similarity index 100%
rename from gtsam_unstable/slam/RegularHessianFactor.h
rename to gtsam/slam/RegularHessianFactor.h
diff --git a/gtsam_unstable/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
similarity index 100%
rename from gtsam_unstable/slam/SmartFactorBase.h
rename to gtsam/slam/SmartFactorBase.h
diff --git a/gtsam_unstable/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
similarity index 99%
rename from gtsam_unstable/slam/SmartProjectionFactor.h
rename to gtsam/slam/SmartProjectionFactor.h
index f439397b9..7c3719cd8 100644
--- a/gtsam_unstable/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -21,11 +21,10 @@
 
 #include "SmartFactorBase.h"
 
-#include <gtsam_unstable/geometry/triangulation.h>
+#include <gtsam/geometry/triangulation.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/slam/dataset.h>
-#include <gtsam_unstable/geometry/triangulation.h>
 
 #include <boost/optional.hpp>
 #include <boost/make_shared.hpp>
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
similarity index 100%
rename from gtsam_unstable/slam/SmartProjectionPoseFactor.h
rename to gtsam/slam/SmartProjectionPoseFactor.h
diff --git a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
similarity index 100%
rename from gtsam_unstable/slam/tests/testSmartProjectionPoseFactor.cpp
rename to gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
index 31b45cbc9..40a0a8725 100644
--- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
+++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
@@ -35,7 +35,7 @@
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/slam/dataset.h>
 
-#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
+#include <gtsam/slam/SmartProjectionPoseFactor.h>
 
 #include <string>
 #include <fstream>