diff --git a/python/handwritten/geometry/Point2.cpp b/python/handwritten/geometry/Point2.cpp
index dad88e077..99a97adc9 100644
--- a/python/handwritten/geometry/Point2.cpp
+++ b/python/handwritten/geometry/Point2.cpp
@@ -25,13 +25,16 @@
 using namespace boost::python;
 using namespace gtsam;
 
+#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Point2::print, 0, 1)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Point2::equals, 1, 2)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Point2::compose, 1, 3)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(distance_overloads, Point2::distance, 1, 3)
+#endif
 
 void exportPoint2(){
 
+#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
   class_<Point2>("Point2", init<>())
     .def(init<double, double>())
     .def(init<const Vector2 &>())
@@ -54,5 +57,5 @@ void exportPoint2(){
     .def(repr(self))
     .def(self == self)
   ;
-
+#endif
 }
diff --git a/python/handwritten/geometry/Point3.cpp b/python/handwritten/geometry/Point3.cpp
index 24bd92a05..7935d6b37 100644
--- a/python/handwritten/geometry/Point3.cpp
+++ b/python/handwritten/geometry/Point3.cpp
@@ -25,31 +25,32 @@
 using namespace boost::python;
 using namespace gtsam;
 
+#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Point3::print, 0, 1)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Point3::equals, 1, 2)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(norm_overloads, Point3::norm, 0, 1)
+#endif
 
 void exportPoint3(){
 
+#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
 class_<Point3>("Point3")
   .def(init<>())
   .def(init<double,double,double>())
   .def(init<const Vector3 &>())
-  .def("identity", &Point3::identity)
-  .staticmethod("identity")
-  .def("cross", &Point3::cross)
-  .def("distance", &Point3::distance)
-  .def("dot", &Point3::dot)
-  .def("equals", &Point3::equals, equals_overloads(args("q","tol")))
-  .def("norm", &Point3::norm, norm_overloads(args("OptionalJacobian<1,3>")))
-  .def("normalized", &Point3::normalized)
-  .def("print", &Point3::print, print_overloads(args("s")))
-#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
   .def("vector", &Point3::vector, return_value_policy<copy_const_reference>())
   .def("x", &Point3::x)
   .def("y", &Point3::y)
   .def("z", &Point3::z)
-#endif
+  .def("print", &Point3::print, print_overloads(args("s")))
+  .def("equals", &Point3::equals, equals_overloads(args("q","tol")))
+  .def("distance", &Point3::distance)
+  .def("cross", &Point3::cross)
+  .def("dot", &Point3::dot)
+  .def("norm", &Point3::norm, norm_overloads(args("OptionalJacobian<1,3>")))
+  .def("normalized", &Point3::normalized)
+  .def("identity", &Point3::identity)
+  .staticmethod("identity")
   .def(self * other<double>())
   .def(other<double>() * self)
   .def(self + self)
@@ -58,7 +59,10 @@ class_<Point3>("Point3")
   .def(self / other<double>())
   .def(self_ns::str(self))
   .def(repr(self))
-  .def(self == self)
-;
+  .def(self == self);
+#endif
 
+class_<Point3Pair>("Point3Pair", init<Point3, Point3>())
+    .def_readwrite("first", &Point3Pair::first)
+    .def_readwrite("second", &Point3Pair::second);
 }