diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 7b92be5d5..4bfbc8b2d 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -121,6 +121,19 @@ public:
     return _project(pw, Dpose, Dpoint, Dcal);
   }
 
+  /// project, but for Python use
+  Point2 project(const Point3& pw, Eigen::Ref<Matrix> Dpose, Eigen::Ref<Matrix> Dpoint, Eigen::Ref<Matrix> Dcal) const {
+    Eigen::Matrix<double, 2, 6> Dpose_;
+    Eigen::Matrix<double, 2, 3> Dpoint_;
+    Eigen::Matrix<double, 2, DimK> Dcal_;
+
+    auto ret = _project(pw, Dpose_, Dpoint_, Dcal_);
+    Dpose = Dpose_;
+    Dpoint = Dpoint_;
+    Dcal = Dcal_;
+    return ret;
+  }
+
   /// project a 3D point from world coordinates into the image
   Point2 reprojectionError(const Point3& pw, const Point2& measured, OptionalJacobian<2, 6> Dpose = boost::none,
       OptionalJacobian<2, 3> Dpoint = boost::none,
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 858270c00..46efebde3 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -824,6 +824,7 @@ template <CALIBRATION>
 class PinholeCamera {
   // Standard Constructors and Named Constructors
   PinholeCamera();
+  PinholeCamera(const gtsam::PinholeCamera<CALIBRATION> other);
   PinholeCamera(const gtsam::Pose3& pose);
   PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K);
   static This Level(const CALIBRATION& K, const gtsam::Pose2& pose,
@@ -850,6 +851,7 @@ class PinholeCamera {
   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;
   double range(const gtsam::Point3& point);
   double range(const gtsam::Pose3& pose);