diff --git a/gtsam.h b/gtsam.h
index 4e1437f06..af2dc3a3b 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -593,6 +593,43 @@ virtual class SimpleCamera : gtsam::Value {
   double range(const gtsam::Pose3& point); // FIXME, overload
 };
 
+// TODO: Add this back in when Cal3DS2 has a calibrate function
+//template<CALIBRATION = {gtsam::Cal3DS2}>
+//virtual class PinholeCamera : gtsam::Value {
+//	// Standard Constructors and Named Constructors
+//	PinholeCamera();
+//	PinholeCamera(const gtsam::Pose3& pose);
+//	PinholeCamera(const gtsam::Pose3& pose, const gtsam::Cal3DS2& K);
+//	static This Level(const gtsam::Cal3DS2& K,
+//		const gtsam::Pose2& pose, double height);
+//	static This Level(const gtsam::Pose2& pose, double height); // FIXME overload
+//	static This Lookat(const gtsam::Point3& eye,
+//		const gtsam::Point3& target, const gtsam::Point3& upVector,
+//		const gtsam::Cal3DS2& K);
+//
+//	// Testable
+//	void print(string s) const;
+//	bool equals(const This& camera, double tol) const;
+//
+//	// Standard Interface
+//	gtsam::Pose3 pose() const;
+//	CALIBRATION calibration() const;
+//
+//	// Manifold
+//	This retract(const 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_to_camera(const gtsam::Point3& cameraPoint);
+//	pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
+//	gtsam::Point2 project(const gtsam::Point3& point);
+//	gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
+//	double range(const gtsam::Point3& point);
+//	double range(const gtsam::Pose3& point); // FIXME, overload
+//};
+
 //*************************************************************************
 // inference
 //*************************************************************************
@@ -1388,7 +1425,26 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
 	CALIBRATION* calibration() const;
 };
 typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> GenericProjectionFactorCal3_S2;
-typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;
+// FIXME: Add Cal3DS2 when it has a 'calibrate' function
+//typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;
+
+
+#include <gtsam/slam/GeneralSFMFactor.h>
+template<CAMERA, LANDMARK>
+virtual class GeneralSFMFactor : gtsam::NonlinearFactor {
+	GeneralSFMFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t cameraKey, size_t landmarkKey);
+	gtsam::Point2 measured() const;
+};
+typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFactorCal3_S2;
+// FIXME: Add Cal3DS2 when it has a 'calibrate' function
+//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
+
+// FIXME: Add Cal3DS2 when it has a 'calibrate' function
+template<CALIBRATION = {gtsam::Cal3_S2}>
+virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor {
+	GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
+	gtsam::Point2 measured() const;
+};
 
 } //\namespace gtsam