diff --git a/.github/scripts/python_wheels/cibw_before_all.sh b/.github/scripts/python_wheels/cibw_before_all.sh
index 4bab03d59a..beb811dedc 100644
--- a/.github/scripts/python_wheels/cibw_before_all.sh
+++ b/.github/scripts/python_wheels/cibw_before_all.sh
@@ -8,6 +8,7 @@ set -x
 
 PYTHON_VERSION="$1"
 PROJECT_DIR="$2"
+WHEEL_BUILD_JOBS=2
 
 export PYTHON="python${PYTHON_VERSION}"
 
@@ -32,17 +33,17 @@ BOOST_PREFIX="$HOME/opt/boost"
 ./bootstrap.sh --prefix=${BOOST_PREFIX}
 
 if [ "$(uname)" == "Linux" ]; then
-    ./b2 install --prefix=${BOOST_PREFIX} -d0 --with-graph \
+    ./b2 -j${WHEEL_BUILD_JOBS} install --prefix=${BOOST_PREFIX} -d0 --with-graph \
         --with-move --with-optional --with-program_options --with-random \
         --with-serialization --with-smart_ptr --with-timer --with-chrono
 elif [ "$(uname)" == "Darwin" ]; then
-    ./b2 install --prefix=${BOOST_PREFIX} -d0 --with-graph \
+    ./b2 -j${WHEEL_BUILD_JOBS} install --prefix=${BOOST_PREFIX} -d0 --with-graph \
         --with-move --with-optional --with-program_options --with-random \
         --with-serialization --with-smart_ptr --with-timer --with-chrono \
         architecture=arm \
         cxxflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}" \
         linkflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}"
-    ./b2 install --prefix=${BOOST_PREFIX}/x86 -d0 --with-graph \
+    ./b2 -j${WHEEL_BUILD_JOBS} install --prefix=${BOOST_PREFIX}/x86 -d0 --with-graph \
         --with-move --with-optional --with-program_options --with-random \
         --with-serialization --with-smart_ptr --with-timer --with-chrono \
         architecture=x86 \
@@ -102,11 +103,5 @@ doxygen build/doc/Doxyfile
 
 # Install the Python wrapper module and generate Python stubs
 cd $PROJECT_DIR/build/python
-if [ "$(uname)" == "Linux" ]; then
-    make -j $(nproc) install
-    make -j $(nproc) python-stubs
-elif [ "$(uname)" == "Darwin" ]; then
-    make -j $(sysctl -n hw.logicalcpu) install
-    make -j $(sysctl -n hw.logicalcpu) python-stubs
-fi
-
+make -j${WHEEL_BUILD_JOBS} install
+make -j${WHEEL_BUILD_JOBS} python-stubs
diff --git a/gtsam/base/std_optional_serialization.h b/gtsam/base/std_optional_serialization.h
index 322fba1e2a..3a8f059ca5 100644
--- a/gtsam/base/std_optional_serialization.h
+++ b/gtsam/base/std_optional_serialization.h
@@ -28,7 +28,7 @@
 #include <boost/serialization/detail/is_default_constructible.hpp>
 
 /** A bunch of declarations to deal with gcc bug
- * The compiler has a difficult time distinguisihing between:
+ * The compiler has a difficult time distinguishing between:
  *
  * template<template <Archive, class U> class SPT> void load(Archive, SPT<U>&, const unsigned int) : <boost/serialization/shared_ptr.hpp>
  *
@@ -37,7 +37,7 @@
  * template<T> void load(Archive, std::optional<T>&, const unsigned int) : <std_optional_serialization.h>
  *
  * The compiler will try to instantiate an object of the type of std::optional<boost::serialization::U> which is not valid since U is not a type and
- * thus leading to a whole series of errros.
+ * thus leading to a whole series of errors.
  *
  * This is a well known bug in gcc documented here: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=84075
  * A minimal reproducible example here: https://godbolt.org/z/anj9YjnPY
diff --git a/gtsam/geometry/cameras.i b/gtsam/geometry/cameras.i
new file mode 100644
index 0000000000..442040fe13
--- /dev/null
+++ b/gtsam/geometry/cameras.i
@@ -0,0 +1,771 @@
+//*************************************************************************
+// cameras
+//*************************************************************************
+
+namespace gtsam {
+
+#include <gtsam/geometry/Cal3.h>
+virtual class Cal3 {
+  // Standard Constructors
+  Cal3();
+  Cal3(double fx, double fy, double s, double u0, double v0);
+  Cal3(gtsam::Vector v);
+
+  // Testable
+  void print(string s = "Cal3") const;
+  bool equals(const gtsam::Cal3& K, double tol) const;
+
+  // Standard Interface
+  double fx() const;
+  double fy() const;
+  double aspectRatio() const;
+  double skew() const;
+  double px() const;
+  double py() const;
+  gtsam::Point2 principalPoint() const;
+  gtsam::Vector vector() const;
+  gtsam::Matrix K() const;
+  gtsam::Matrix inverse() const;
+};
+
+#include <gtsam/geometry/Cal3_S2.h>
+virtual class Cal3_S2 : gtsam::Cal3 {
+  // Standard Constructors
+  Cal3_S2();
+  Cal3_S2(double fx, double fy, double s, double u0, double v0);
+  Cal3_S2(gtsam::Vector v);
+  Cal3_S2(double fov, int w, int h);
+
+  // Testable
+  void print(string s = "Cal3_S2") const;
+  bool equals(const gtsam::Cal3_S2& K, double tol) const;
+
+  // Manifold
+  static size_t Dim();
+  size_t dim() const;
+  gtsam::Cal3_S2 retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::Cal3_S2& T2) const;
+
+  // Action on Point2
+  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& p,
+                          Eigen::Ref<Eigen::MatrixXd> Dcal,
+                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
+                            Eigen::Ref<Eigen::MatrixXd> Dcal,
+                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
+
+  // Action on Homogeneous Coordinates
+  gtsam::Vector3 calibrate(const gtsam::Vector3& p) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/Cal3DS2_Base.h>
+virtual class Cal3DS2_Base : gtsam::Cal3 {
+  // Standard Constructors
+  Cal3DS2_Base();
+
+  // Testable
+  void print(string s = "") const;
+
+  // Standard Interface
+  double k1() const;
+  double k2() const;
+  double p1() const;
+  double p2() const;
+  gtsam::Vector4 k() const;
+  gtsam::Vector9 vector() const;
+
+  // Action on Point2
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
+                            Eigen::Ref<Eigen::MatrixXd> Dcal,
+                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& p,
+                          Eigen::Ref<Eigen::MatrixXd> Dcal,
+                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/Cal3DS2.h>
+virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
+  // Standard Constructors
+  Cal3DS2();
+  Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
+          double k2);
+  Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
+          double k2, double p1, double p2);
+  Cal3DS2(gtsam::Vector v);
+
+  // Testable
+  bool equals(const gtsam::Cal3DS2& K, double tol) const;
+
+  // Manifold
+  size_t dim() const;
+  static size_t Dim();
+  gtsam::Cal3DS2 retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::Cal3DS2& T2) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/Cal3Unified.h>
+virtual class Cal3Unified : gtsam::Cal3DS2_Base {
+  // Standard Constructors
+  Cal3Unified();
+  Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
+              double k2);
+  Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
+              double k2, double p1, double p2, double xi);
+  Cal3Unified(gtsam::Vector v);
+
+  // Testable
+  bool equals(const gtsam::Cal3Unified& K, double tol) const;
+
+  // Standard Interface
+  double xi() const;
+  gtsam::Point2 spaceToNPlane(const gtsam::Point2& p) const;
+  gtsam::Point2 nPlaneToSpace(const gtsam::Point2& p) const;
+
+  // Manifold
+  size_t dim() const;
+  static size_t Dim();
+  gtsam::Cal3Unified retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::Cal3Unified& T2) const;
+
+  // Action on Point2
+  // Note: the signature of this functions differ from the functions
+  // with equal name in the base class.
+  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& p,
+                          Eigen::Ref<Eigen::MatrixXd> Dcal,
+                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
+                            Eigen::Ref<Eigen::MatrixXd> Dcal,
+                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/Cal3Fisheye.h>
+virtual class Cal3Fisheye : gtsam::Cal3 {
+  // Standard Constructors
+  Cal3Fisheye();
+  Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1,
+              double k2, double k3, double k4, double tol = 1e-5);
+  Cal3Fisheye(gtsam::Vector v);
+
+  // Testable
+  void print(string s = "Cal3Fisheye") const;
+  bool equals(const gtsam::Cal3Fisheye& K, double tol) const;
+
+  // Manifold
+  size_t dim() const;
+  static size_t Dim();
+  gtsam::Cal3Fisheye retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& T2) const;
+
+  // Action on Point2
+  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& p,
+                          Eigen::Ref<Eigen::MatrixXd> Dcal,
+                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
+                            Eigen::Ref<Eigen::MatrixXd> Dcal,
+                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
+
+  // Standard Interface
+  double k1() const;
+  double k2() const;
+  double k3() const;
+  double k4() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/Cal3_S2Stereo.h>
+virtual class Cal3_S2Stereo : gtsam::Cal3_S2{
+  // Standard Constructors
+  Cal3_S2Stereo();
+  Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
+  Cal3_S2Stereo(gtsam::Vector v);
+  Cal3_S2Stereo(double fov, int w, int h, double b);
+
+  // Manifold
+  size_t dim() const;
+  static size_t Dim();
+  gtsam::Cal3_S2Stereo retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& T2) const;
+
+  // Testable
+  void print(string s = "") const;
+  bool equals(const gtsam::Cal3_S2Stereo& other, double tol) const;
+
+  // Standard Interface
+  double baseline() const;
+  gtsam::Vector6 vector() const;
+
+  // Action on Point2
+  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& p,
+                          Eigen::Ref<Eigen::MatrixXd> Dcal,
+                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
+                            Eigen::Ref<Eigen::MatrixXd> Dcal,
+                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
+};
+
+#include <gtsam/geometry/Cal3Bundler.h>
+virtual class Cal3f : gtsam::Cal3 {
+  // Standard Constructors
+  Cal3f();
+  Cal3f(double fx, double u0, double v0);
+
+  // Testable
+  void print(string s = "") const;
+  bool equals(const gtsam::Cal3f& K, double tol) const;
+
+  // Manifold
+  size_t dim() const;
+  static size_t Dim();
+  gtsam::Cal3f retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::Cal3f& T2) const;
+
+  // Action on Point2
+  gtsam::Point2 calibrate(const gtsam::Point2& pi) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& pi,
+                          Eigen::Ref<Eigen::MatrixXd> Dcal,
+                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
+                            Eigen::Ref<Eigen::MatrixXd> Dcal,
+                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
+
+  // Standard Interface
+  double f() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+
+#include <gtsam/geometry/Cal3Bundler.h>
+virtual class Cal3Bundler : gtsam::Cal3f {
+  // Standard Constructors
+  Cal3Bundler();
+  Cal3Bundler(double fx, double k1, double k2, double u0, double v0);
+  Cal3Bundler(double fx, double k1, double k2, double u0, double v0,
+              double tol);
+
+  // Testable
+  void print(string s = "") const;
+  bool equals(const gtsam::Cal3Bundler& K, double tol) const;
+
+  // Manifold
+  size_t dim() const;
+  static size_t Dim();
+  gtsam::Cal3Bundler retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& T2) const;
+
+  // Standard Interface
+  double k1() const;
+  double k2() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/FundamentalMatrix.h>
+
+// FundamentalMatrix class
+class FundamentalMatrix {
+  // Constructors
+  FundamentalMatrix();
+  FundamentalMatrix(const gtsam::Matrix3& U, double s, const gtsam::Matrix3& V);
+  FundamentalMatrix(const gtsam::Matrix3& F);
+
+  // Overloaded constructors for specific calibration types
+  FundamentalMatrix(const gtsam::Matrix3& Ka, const gtsam::EssentialMatrix& E,
+                    const gtsam::Matrix3& Kb);
+  FundamentalMatrix(const gtsam::Matrix3& Ka, const gtsam::Pose3& aPb,
+                    const gtsam::Matrix3& Kb);
+
+  // Methods
+  gtsam::Matrix3 matrix() const;
+
+  // Testable
+  void print(string s = "") const;
+  bool equals(const gtsam::FundamentalMatrix& other, double tol = 1e-9) const;
+
+  // Manifold
+  static size_t Dim();
+  size_t dim() const;
+  gtsam::Vector localCoordinates(const gtsam::FundamentalMatrix& F) const;
+  gtsam::FundamentalMatrix retract(const gtsam::Vector& delta) const;
+};
+
+// SimpleFundamentalMatrix class
+class SimpleFundamentalMatrix {
+  // Constructors
+  SimpleFundamentalMatrix();
+  SimpleFundamentalMatrix(const gtsam::EssentialMatrix& E, double fa, double fb,
+                          const gtsam::Point2& ca, const gtsam::Point2& cb);
+
+  // Methods
+  gtsam::Matrix3 matrix() const;
+
+  // Testable
+  void print(string s = "") const;
+  bool equals(const gtsam::SimpleFundamentalMatrix& other, double tol = 1e-9) const;
+
+  // Manifold
+  static size_t Dim();
+  size_t dim() const;
+  gtsam::Vector localCoordinates(const gtsam::SimpleFundamentalMatrix& F) const;
+  gtsam::SimpleFundamentalMatrix retract(const gtsam::Vector& delta) const;
+};
+
+gtsam::Point2 EpipolarTransfer(const gtsam::Matrix3& Fca, const gtsam::Point2& pa,
+                               const gtsam::Matrix3& Fcb, const gtsam::Point2& pb);
+
+#include <gtsam/geometry/CalibratedCamera.h>
+class CalibratedCamera {
+  // Standard Constructors and Named Constructors
+  CalibratedCamera();
+  CalibratedCamera(const gtsam::Pose3& pose);
+  CalibratedCamera(gtsam::Vector v);
+  static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2,
+                                       double height);
+
+  // Testable
+  void print(string s = "CalibratedCamera") const;
+  bool equals(const gtsam::CalibratedCamera& camera, double tol) const;
+
+  // Manifold
+  static size_t Dim();
+  size_t dim() const;
+  gtsam::CalibratedCamera retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
+
+  // Action on Point3
+  gtsam::Point2 project(const gtsam::Point3& point) const;
+  gtsam::Point2 project(const gtsam::Point3& point,
+                        Eigen::Ref<Eigen::MatrixXd> Dcamera,
+                        Eigen::Ref<Eigen::MatrixXd> Dpoint);
+  gtsam::Point3 backproject(const gtsam::Point2& pn, 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);
+
+  static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
+
+  // Standard Interface
+  gtsam::Pose3 pose() const;
+  double range(const gtsam::Point3& point) const;
+  double range(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
+               Eigen::Ref<Eigen::MatrixXd> Dpoint);
+  double range(const gtsam::Pose3& pose) const;
+  double range(const gtsam::Pose3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
+               Eigen::Ref<Eigen::MatrixXd> Dpose);
+  double range(const gtsam::CalibratedCamera& camera) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/PinholeCamera.h>
+template <CALIBRATION>
+class PinholeCamera {
+  // Standard Constructors and Named Constructors
+  PinholeCamera();
+  PinholeCamera(const This other);
+  PinholeCamera(const gtsam::Pose3& pose);
+  PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K);
+  static This Level(const CALIBRATION& K, const gtsam::Pose2& pose,
+                    double height);
+  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 = "PinholeCamera") const;
+  bool equals(const This& camera, double tol) const;
+
+  // Standard Interface
+  gtsam::Pose3 pose() const;
+  CALIBRATION calibration() const;
+
+  // Manifold
+  size_t dim() const;
+  static size_t Dim();
+  This retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const This& T2) const;
+
+  // 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);
+  gtsam::Point2 project(const gtsam::Point3& point,
+    Eigen::Ref<Eigen::MatrixXd> Dpose,
+    Eigen::Ref<Eigen::MatrixXd> Dpoint);
+  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);
+
+  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);
+  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;
+};
+
+// 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::Cal3f> PinholeCameraCal3f;
+typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye;
+
+#include <gtsam/geometry/PinholePose.h>
+template <CALIBRATION>
+class PinholePose {
+  // Standard Constructors and Named Constructors
+  PinholePose();
+  PinholePose(const This 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
+  size_t dim() const;
+  static size_t Dim();
+  This retract(gtsam::Vector d) const;
+  gtsam::Vector localCoordinates(const This& p) const;
+
+  // 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/SphericalCamera.h>
+class SphericalCamera {
+  // Standard Constructors
+  SphericalCamera();
+  SphericalCamera(const gtsam::Pose3& pose);
+  SphericalCamera(const gtsam::Pose3& pose,
+                  const gtsam::EmptyCal::shared_ptr& cal);
+  SphericalCamera(const gtsam::Vector& v);
+
+  // Testable
+  bool equals(const gtsam::SphericalCamera& camera, double tol = 1e-9) const;
+  void print(const std::string& s = "SphericalCamera") const;
+
+  // Standard Interface
+  gtsam::Pose3 pose() const;
+  const gtsam::Rot3& rotation() const;
+  const gtsam::Point3& translation() const;
+
+  // Transformations and measurement functions
+  pair<gtsam::Unit3, bool> projectSafe(const gtsam::Point3& pw) const;
+  gtsam::Unit3 project(const gtsam::Point3& point) const;
+  gtsam::Unit3 project2(const gtsam::Point3& point) const;
+  gtsam::Unit3 project2(const gtsam::Unit3& pwu) const;
+  gtsam::Point3 backproject(const gtsam::Unit3& p, double depth) const;
+  gtsam::Unit3 backprojectPointAtInfinity(const gtsam::Unit3& p) const;
+  gtsam::Vector2 reprojectionError(const gtsam::Point3& point,
+                                   const gtsam::Unit3& measured) const;
+
+  // Manifold
+  gtsam::SphericalCamera retract(const gtsam::Vector6& d) const;
+  gtsam::Vector6 localCoordinates(const gtsam::SphericalCamera& p) const;
+  static gtsam::SphericalCamera Identity();
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+template <T = {gtsam::PinholePoseCal3_S2}>
+class CameraSet {
+  CameraSet();
+
+  // structure specific methods
+  T at(size_t i) const;
+  void push_back(const T& cam);
+};
+
+#include <gtsam/geometry/StereoCamera.h>
+class StereoCamera {
+  // Standard Constructors and Named Constructors
+  StereoCamera();
+  StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
+
+  // Testable
+  void print(string s = "") const;
+  bool equals(const gtsam::StereoCamera& camera, double tol) const;
+
+  // Standard Interface
+  gtsam::Pose3 pose() const;
+  double baseline() const;
+  gtsam::Cal3_S2Stereo calibration() const;
+
+  // Manifold
+  static size_t Dim();
+  size_t dim() const;
+  gtsam::StereoCamera retract(gtsam::Vector v) const;
+  gtsam::Vector localCoordinates(const gtsam::StereoCamera& t2) const;
+
+  // Transformations and measurement functions
+  gtsam::StereoPoint2 project(const gtsam::Point3& point) const;
+  gtsam::Point3 backproject(const gtsam::StereoPoint2& z) const;
+
+  // project with Jacobian
+  gtsam::StereoPoint2 project2(const gtsam::Point3& point,
+                              Eigen::Ref<Eigen::MatrixXd> H1,
+                              Eigen::Ref<Eigen::MatrixXd> H2) const;
+
+  gtsam::Point3 backproject2(const gtsam::StereoPoint2& p,
+                             Eigen::Ref<Eigen::MatrixXd> H1,
+                             Eigen::Ref<Eigen::MatrixXd> H2) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/triangulation.h>
+class TriangulationResult {
+  enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
+  gtsam::TriangulationResult::Status status;
+  TriangulationResult(const gtsam::Point3& p);
+  const gtsam::Point3& get() const;
+  static gtsam::TriangulationResult Degenerate();
+  static gtsam::TriangulationResult Outlier();
+  static gtsam::TriangulationResult FarPoint();
+  static gtsam::TriangulationResult BehindCamera();
+  bool valid() const;
+  bool degenerate() const;
+  bool outlier() const;
+  bool farPoint() const;
+  bool behindCamera() const;
+};
+
+class TriangulationParameters {
+  double rankTolerance;
+  bool enableEPI;
+  double landmarkDistanceThreshold;
+  double dynamicOutlierRejectionThreshold;
+  bool useLOST;
+  gtsam::SharedNoiseModel noiseModel;
+  TriangulationParameters(const double rankTolerance = 1.0,
+                          const bool enableEPI = false,
+                          double landmarkDistanceThreshold = -1,
+                          double dynamicOutlierRejectionThreshold = -1,
+                          const bool useLOST = false,
+                          const gtsam::SharedNoiseModel& noiseModel = nullptr);
+};
+
+// Can be templated but overloaded for convenience.
+// We can now call `triangulatePoint3` with any template type.
+
+// Cal3_S2 versions
+gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
+                                gtsam::Cal3_S2* sharedCal,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr);
+gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3_S2* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::TriangulationResult triangulateSafe(
+    const gtsam::CameraSetCal3_S2& cameras,
+    const gtsam::Point2Vector& measurements,
+    const gtsam::TriangulationParameters& params);
+
+// Cal3DS2 versions
+gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
+                                gtsam::Cal3DS2* sharedCal,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr);
+gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3DS2& cameras,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3DS2* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3DS2& cameras,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::TriangulationResult triangulateSafe(
+    const gtsam::CameraSetCal3DS2& cameras,
+    const gtsam::Point2Vector& measurements,
+    const gtsam::TriangulationParameters& params);
+
+// Cal3Bundler versions
+gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
+                                gtsam::Cal3Bundler* sharedCal,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr);
+gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3Bundler* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::TriangulationResult triangulateSafe(
+    const gtsam::CameraSetCal3Bundler& cameras,
+    const gtsam::Point2Vector& measurements,
+    const gtsam::TriangulationParameters& params);
+
+// Cal3Fisheye versions
+gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
+                                gtsam::Cal3Fisheye* sharedCal,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr);
+gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3Fisheye* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Fisheye& cameras,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::TriangulationResult triangulateSafe(
+    const gtsam::CameraSetCal3Fisheye& cameras,
+    const gtsam::Point2Vector& measurements,
+    const gtsam::TriangulationParameters& params);
+
+// Cal3Unified versions
+gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
+                                gtsam::Cal3Unified* sharedCal,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr);
+gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
+                                const gtsam::Point2Vector& measurements,
+                                double rank_tol, bool optimize,
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3Unified* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Unified& cameras,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::TriangulationResult triangulateSafe(
+    const gtsam::CameraSetCal3Unified& cameras,
+    const gtsam::Point2Vector& measurements,
+    const gtsam::TriangulationParameters& params);
+
+// Spherical versions
+gtsam::Point3 triangulatePoint3(
+    const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
+    const gtsam::SphericalCamera::MeasurementVector& measurements,
+    double rank_tol, bool optimize,
+    const gtsam::SharedNoiseModel& model = nullptr,
+    const bool useLOST = false);
+gtsam::Point3 triangulateNonlinear(
+    const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
+    const gtsam::SphericalCamera::MeasurementVector& measurements,
+    const gtsam::Point3& initialEstimate);
+gtsam::TriangulationResult triangulateSafe(
+    const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
+    const gtsam::SphericalCamera::MeasurementVector& measurements,
+    const gtsam::TriangulationParameters& params);
+
+}  // namespace gtsam
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index c1f2263373..1a6b20c438 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -958,557 +958,6 @@ class EssentialMatrix {
   double error(gtsam::Vector vA, gtsam::Vector vB);
 };
 
-#include <gtsam/geometry/Cal3.h>
-virtual class Cal3 {
-  // Standard Constructors
-  Cal3();
-  Cal3(double fx, double fy, double s, double u0, double v0);
-  Cal3(gtsam::Vector v);
-
-  // Testable
-  void print(string s = "Cal3") const;
-  bool equals(const gtsam::Cal3& K, double tol) const;
-
-  // Standard Interface
-  double fx() const;
-  double fy() const;
-  double aspectRatio() const;
-  double skew() const;
-  double px() const;
-  double py() const;
-  gtsam::Point2 principalPoint() const;
-  gtsam::Vector vector() const;
-  gtsam::Matrix K() const;
-  gtsam::Matrix inverse() const;
-};
-
-#include <gtsam/geometry/Cal3_S2.h>
-virtual class Cal3_S2 : gtsam::Cal3 {
-  // Standard Constructors
-  Cal3_S2();
-  Cal3_S2(double fx, double fy, double s, double u0, double v0);
-  Cal3_S2(gtsam::Vector v);
-  Cal3_S2(double fov, int w, int h);
-
-  // Testable
-  void print(string s = "Cal3_S2") const;
-  bool equals(const gtsam::Cal3_S2& K, double tol) const;
-
-  // Manifold
-  static size_t Dim();
-  size_t dim() const;
-  gtsam::Cal3_S2 retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::Cal3_S2& T2) const;
-
-  // Action on Point2
-  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& p,
-                          Eigen::Ref<Eigen::MatrixXd> Dcal,
-                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
-                            Eigen::Ref<Eigen::MatrixXd> Dcal,
-                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
-
-  // Action on Homogeneous Coordinates
-  gtsam::Vector3 calibrate(const gtsam::Vector3& p) const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Cal3DS2_Base.h>
-virtual class Cal3DS2_Base : gtsam::Cal3 {
-  // Standard Constructors
-  Cal3DS2_Base();
-
-  // Testable
-  void print(string s = "") const;
-
-  // Standard Interface
-  double k1() const;
-  double k2() const;
-  double p1() const;
-  double p2() const;
-  gtsam::Vector4 k() const;
-  gtsam::Vector9 vector() const;
-
-  // Action on Point2
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
-                            Eigen::Ref<Eigen::MatrixXd> Dcal,
-                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& p,
-                          Eigen::Ref<Eigen::MatrixXd> Dcal,
-                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Cal3DS2.h>
-virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
-  // Standard Constructors
-  Cal3DS2();
-  Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
-          double k2);
-  Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
-          double k2, double p1, double p2);
-  Cal3DS2(gtsam::Vector v);
-
-  // Testable
-  bool equals(const gtsam::Cal3DS2& K, double tol) const;
-
-  // Manifold
-  size_t dim() const;
-  static size_t Dim();
-  gtsam::Cal3DS2 retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::Cal3DS2& T2) const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Cal3Unified.h>
-virtual class Cal3Unified : gtsam::Cal3DS2_Base {
-  // Standard Constructors
-  Cal3Unified();
-  Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
-              double k2);
-  Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
-              double k2, double p1, double p2, double xi);
-  Cal3Unified(gtsam::Vector v);
-
-  // Testable
-  bool equals(const gtsam::Cal3Unified& K, double tol) const;
-
-  // Standard Interface
-  double xi() const;
-  gtsam::Point2 spaceToNPlane(const gtsam::Point2& p) const;
-  gtsam::Point2 nPlaneToSpace(const gtsam::Point2& p) const;
-
-  // Manifold
-  size_t dim() const;
-  static size_t Dim();
-  gtsam::Cal3Unified retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::Cal3Unified& T2) const;
-
-  // Action on Point2
-  // Note: the signature of this functions differ from the functions
-  // with equal name in the base class.
-  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& p,
-                          Eigen::Ref<Eigen::MatrixXd> Dcal,
-                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
-                            Eigen::Ref<Eigen::MatrixXd> Dcal,
-                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Cal3Fisheye.h>
-virtual class Cal3Fisheye : gtsam::Cal3 {
-  // Standard Constructors
-  Cal3Fisheye();
-  Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1,
-              double k2, double k3, double k4, double tol = 1e-5);
-  Cal3Fisheye(gtsam::Vector v);
-
-  // Testable
-  void print(string s = "Cal3Fisheye") const;
-  bool equals(const gtsam::Cal3Fisheye& K, double tol) const;
-
-  // Manifold
-  size_t dim() const;
-  static size_t Dim();
-  gtsam::Cal3Fisheye retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& T2) const;
-
-  // Action on Point2
-  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& p,
-                          Eigen::Ref<Eigen::MatrixXd> Dcal,
-                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
-                            Eigen::Ref<Eigen::MatrixXd> Dcal,
-                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
-
-  // Standard Interface
-  double k1() const;
-  double k2() const;
-  double k3() const;
-  double k4() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Cal3_S2Stereo.h>
-virtual class Cal3_S2Stereo : gtsam::Cal3_S2{
-  // Standard Constructors
-  Cal3_S2Stereo();
-  Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
-  Cal3_S2Stereo(gtsam::Vector v);
-  Cal3_S2Stereo(double fov, int w, int h, double b);
-
-  // Manifold
-  size_t dim() const;
-  static size_t Dim();
-  gtsam::Cal3_S2Stereo retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& T2) const;
-
-  // Testable
-  void print(string s = "") const;
-  bool equals(const gtsam::Cal3_S2Stereo& other, double tol) const;
-
-  // Standard Interface
-  double baseline() const;
-  gtsam::Vector6 vector() const;
-
-  // Action on Point2
-  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& p,
-                          Eigen::Ref<Eigen::MatrixXd> Dcal,
-                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
-                            Eigen::Ref<Eigen::MatrixXd> Dcal,
-                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
-};
-
-#include <gtsam/geometry/Cal3Bundler.h>
-virtual class Cal3f : gtsam::Cal3 {
-  // Standard Constructors
-  Cal3f();
-  Cal3f(double fx, double u0, double v0);
-
-  // Testable
-  void print(string s = "") const;
-  bool equals(const gtsam::Cal3f& K, double tol) const;
-
-  // Manifold
-  size_t dim() const;
-  static size_t Dim();
-  gtsam::Cal3f retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::Cal3f& T2) const;
-
-  // Action on Point2
-  gtsam::Point2 calibrate(const gtsam::Point2& pi) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& pi,
-                          Eigen::Ref<Eigen::MatrixXd> Dcal,
-                          Eigen::Ref<Eigen::MatrixXd> Dp) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 uncalibrate(const gtsam::Point2& p,
-                            Eigen::Ref<Eigen::MatrixXd> Dcal,
-                            Eigen::Ref<Eigen::MatrixXd> Dp) const;
-
-  // Standard Interface
-  double f() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-
-#include <gtsam/geometry/Cal3Bundler.h>
-virtual class Cal3Bundler : gtsam::Cal3f {
-  // Standard Constructors
-  Cal3Bundler();
-  Cal3Bundler(double fx, double k1, double k2, double u0, double v0);
-  Cal3Bundler(double fx, double k1, double k2, double u0, double v0,
-              double tol);
-
-  // Testable
-  void print(string s = "") const;
-  bool equals(const gtsam::Cal3Bundler& K, double tol) const;
-
-  // Manifold
-  size_t dim() const;
-  static size_t Dim();
-  gtsam::Cal3Bundler retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& T2) const;
-
-  // Standard Interface
-  double k1() const;
-  double k2() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/FundamentalMatrix.h>
-
-// FundamentalMatrix class
-class FundamentalMatrix {
-  // Constructors
-  FundamentalMatrix();
-  FundamentalMatrix(const gtsam::Matrix3& U, double s, const gtsam::Matrix3& V);
-  FundamentalMatrix(const gtsam::Matrix3& F);
-
-  // Overloaded constructors for specific calibration types
-  FundamentalMatrix(const gtsam::Matrix3& Ka, const gtsam::EssentialMatrix& E,
-                    const gtsam::Matrix3& Kb);
-  FundamentalMatrix(const gtsam::Matrix3& Ka, const gtsam::Pose3& aPb,
-                    const gtsam::Matrix3& Kb);
-
-  // Methods
-  gtsam::Matrix3 matrix() const;
-
-  // Testable
-  void print(string s = "") const;
-  bool equals(const gtsam::FundamentalMatrix& other, double tol = 1e-9) const;
-
-  // Manifold
-  static size_t Dim();
-  size_t dim() const;
-  gtsam::Vector localCoordinates(const gtsam::FundamentalMatrix& F) const;
-  gtsam::FundamentalMatrix retract(const gtsam::Vector& delta) const;
-};
-
-// SimpleFundamentalMatrix class
-class SimpleFundamentalMatrix {
-  // Constructors
-  SimpleFundamentalMatrix();
-  SimpleFundamentalMatrix(const gtsam::EssentialMatrix& E, double fa, double fb,
-                          const gtsam::Point2& ca, const gtsam::Point2& cb);
-
-  // Methods
-  gtsam::Matrix3 matrix() const;
-
-  // Testable
-  void print(string s = "") const;
-  bool equals(const gtsam::SimpleFundamentalMatrix& other, double tol = 1e-9) const;
-
-  // Manifold
-  static size_t Dim();
-  size_t dim() const;
-  gtsam::Vector localCoordinates(const gtsam::SimpleFundamentalMatrix& F) const;
-  gtsam::SimpleFundamentalMatrix retract(const gtsam::Vector& delta) const;
-};
-
-gtsam::Point2 EpipolarTransfer(const gtsam::Matrix3& Fca, const gtsam::Point2& pa,
-                               const gtsam::Matrix3& Fcb, const gtsam::Point2& pb);
-
-#include <gtsam/geometry/CalibratedCamera.h>
-class CalibratedCamera {
-  // Standard Constructors and Named Constructors
-  CalibratedCamera();
-  CalibratedCamera(const gtsam::Pose3& pose);
-  CalibratedCamera(gtsam::Vector v);
-  static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2,
-                                       double height);
-
-  // Testable
-  void print(string s = "CalibratedCamera") const;
-  bool equals(const gtsam::CalibratedCamera& camera, double tol) const;
-
-  // Manifold
-  static size_t Dim();
-  size_t dim() const;
-  gtsam::CalibratedCamera retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
-
-  // Action on Point3
-  gtsam::Point2 project(const gtsam::Point3& point) const;
-  gtsam::Point2 project(const gtsam::Point3& point,
-                        Eigen::Ref<Eigen::MatrixXd> Dcamera,
-                        Eigen::Ref<Eigen::MatrixXd> Dpoint);
-  gtsam::Point3 backproject(const gtsam::Point2& pn, 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);
-
-  static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
-
-  // Standard Interface
-  gtsam::Pose3 pose() const;
-  double range(const gtsam::Point3& point) const;
-  double range(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
-               Eigen::Ref<Eigen::MatrixXd> Dpoint);
-  double range(const gtsam::Pose3& pose) const;
-  double range(const gtsam::Pose3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
-               Eigen::Ref<Eigen::MatrixXd> Dpose);
-  double range(const gtsam::CalibratedCamera& camera) const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/PinholeCamera.h>
-template <CALIBRATION>
-class PinholeCamera {
-  // Standard Constructors and Named Constructors
-  PinholeCamera();
-  PinholeCamera(const This other);
-  PinholeCamera(const gtsam::Pose3& pose);
-  PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K);
-  static This Level(const CALIBRATION& K, const gtsam::Pose2& pose,
-                    double height);
-  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 = "PinholeCamera") const;
-  bool equals(const This& camera, double tol) const;
-
-  // Standard Interface
-  gtsam::Pose3 pose() const;
-  CALIBRATION calibration() const;
-
-  // Manifold
-  size_t dim() const;
-  static size_t Dim();
-  This retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const This& T2) const;
-
-  // 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);
-  gtsam::Point2 project(const gtsam::Point3& point,
-    Eigen::Ref<Eigen::MatrixXd> Dpose,
-    Eigen::Ref<Eigen::MatrixXd> Dpoint);
-  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);
-
-  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);
-  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;
-};
-
-// 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::Cal3f> PinholeCameraCal3f;
-typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye;
-
-#include <gtsam/geometry/PinholePose.h>
-template <CALIBRATION>
-class PinholePose {
-  // Standard Constructors and Named Constructors
-  PinholePose();
-  PinholePose(const This 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
-  size_t dim() const;
-  static size_t Dim();
-  This retract(gtsam::Vector d) const;
-  gtsam::Vector localCoordinates(const This& p) const;
-
-  // 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/SphericalCamera.h>
-class SphericalCamera {
-  // Standard Constructors
-  SphericalCamera();
-  SphericalCamera(const gtsam::Pose3& pose);
-  SphericalCamera(const gtsam::Pose3& pose,
-                  const gtsam::EmptyCal::shared_ptr& cal);
-  SphericalCamera(const gtsam::Vector& v);
-
-  // Testable
-  bool equals(const gtsam::SphericalCamera& camera, double tol = 1e-9) const;
-  void print(const std::string& s = "SphericalCamera") const;
-
-  // Standard Interface
-  gtsam::Pose3 pose() const;
-  const gtsam::Rot3& rotation() const;
-  const gtsam::Point3& translation() const;
-
-  // Transformations and measurement functions
-  pair<gtsam::Unit3, bool> projectSafe(const gtsam::Point3& pw) const;
-  gtsam::Unit3 project(const gtsam::Point3& point) const;
-  gtsam::Unit3 project2(const gtsam::Point3& point) const;
-  gtsam::Unit3 project2(const gtsam::Unit3& pwu) const;
-  gtsam::Point3 backproject(const gtsam::Unit3& p, double depth) const;
-  gtsam::Unit3 backprojectPointAtInfinity(const gtsam::Unit3& p) const;
-  gtsam::Vector2 reprojectionError(const gtsam::Point3& point,
-                                   const gtsam::Unit3& measured) const;
-
-  // Manifold
-  gtsam::SphericalCamera retract(const gtsam::Vector6& d) const;
-  gtsam::Vector6 localCoordinates(const gtsam::SphericalCamera& p) const;
-  static gtsam::SphericalCamera Identity();
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
 #include <gtsam/geometry/Similarity2.h>
 class Similarity2 {
   // Standard Constructors
@@ -1691,220 +1140,6 @@ class Gal3 {
   static gtsam::Vector Vee(const gtsam::Matrix& X);
 };
 
-template <T = {gtsam::PinholePoseCal3_S2}>
-class CameraSet {
-  CameraSet();
-
-  // structure specific methods
-  T at(size_t i) const;
-  void push_back(const T& cam);
-};
-
-#include <gtsam/geometry/StereoCamera.h>
-class StereoCamera {
-  // Standard Constructors and Named Constructors
-  StereoCamera();
-  StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
-
-  // Testable
-  void print(string s = "") const;
-  bool equals(const gtsam::StereoCamera& camera, double tol) const;
-
-  // Standard Interface
-  gtsam::Pose3 pose() const;
-  double baseline() const;
-  gtsam::Cal3_S2Stereo calibration() const;
-
-  // Manifold
-  static size_t Dim();
-  size_t dim() const;
-  gtsam::StereoCamera retract(gtsam::Vector v) const;
-  gtsam::Vector localCoordinates(const gtsam::StereoCamera& t2) const;
-
-  // Transformations and measurement functions
-  gtsam::StereoPoint2 project(const gtsam::Point3& point) const;
-  gtsam::Point3 backproject(const gtsam::StereoPoint2& z) const;
-
-  // project with Jacobian
-  gtsam::StereoPoint2 project2(const gtsam::Point3& point,
-                              Eigen::Ref<Eigen::MatrixXd> H1,
-                              Eigen::Ref<Eigen::MatrixXd> H2) const;
-
-  gtsam::Point3 backproject2(const gtsam::StereoPoint2& p,
-                             Eigen::Ref<Eigen::MatrixXd> H1,
-                             Eigen::Ref<Eigen::MatrixXd> H2) const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/triangulation.h>
-class TriangulationResult {
-  enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
-  gtsam::TriangulationResult::Status status;
-  TriangulationResult(const gtsam::Point3& p);
-  const gtsam::Point3& get() const;
-  static gtsam::TriangulationResult Degenerate();
-  static gtsam::TriangulationResult Outlier();
-  static gtsam::TriangulationResult FarPoint();
-  static gtsam::TriangulationResult BehindCamera();
-  bool valid() const;
-  bool degenerate() const;
-  bool outlier() const;
-  bool farPoint() const;
-  bool behindCamera() const;
-};
-
-class TriangulationParameters {
-  double rankTolerance;
-  bool enableEPI;
-  double landmarkDistanceThreshold;
-  double dynamicOutlierRejectionThreshold;
-  bool useLOST;
-  gtsam::SharedNoiseModel noiseModel;
-  TriangulationParameters(const double rankTolerance = 1.0,
-                          const bool enableEPI = false,
-                          double landmarkDistanceThreshold = -1,
-                          double dynamicOutlierRejectionThreshold = -1,
-                          const bool useLOST = false,
-                          const gtsam::SharedNoiseModel& noiseModel = nullptr);
-};
-
-// Can be templated but overloaded for convenience.
-// We can now call `triangulatePoint3` with any template type.
-
-// Cal3_S2 versions
-gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
-                                gtsam::Cal3_S2* sharedCal,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
-gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr,
-                                const bool useLOST = false);
-gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
-                                   gtsam::Cal3_S2* sharedCal,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::TriangulationResult triangulateSafe(
-    const gtsam::CameraSetCal3_S2& cameras,
-    const gtsam::Point2Vector& measurements,
-    const gtsam::TriangulationParameters& params);
-
-// Cal3DS2 versions
-gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
-                                gtsam::Cal3DS2* sharedCal,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
-gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3DS2& cameras,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr,
-                                const bool useLOST = false);
-gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
-                                   gtsam::Cal3DS2* sharedCal,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3DS2& cameras,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::TriangulationResult triangulateSafe(
-    const gtsam::CameraSetCal3DS2& cameras,
-    const gtsam::Point2Vector& measurements,
-    const gtsam::TriangulationParameters& params);
-
-// Cal3Bundler versions
-gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
-                                gtsam::Cal3Bundler* sharedCal,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
-gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr,
-                                const bool useLOST = false);
-gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
-                                   gtsam::Cal3Bundler* sharedCal,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::TriangulationResult triangulateSafe(
-    const gtsam::CameraSetCal3Bundler& cameras,
-    const gtsam::Point2Vector& measurements,
-    const gtsam::TriangulationParameters& params);
-
-// Cal3Fisheye versions
-gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
-                                gtsam::Cal3Fisheye* sharedCal,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
-gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr,
-                                const bool useLOST = false);
-gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
-                                   gtsam::Cal3Fisheye* sharedCal,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Fisheye& cameras,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::TriangulationResult triangulateSafe(
-    const gtsam::CameraSetCal3Fisheye& cameras,
-    const gtsam::Point2Vector& measurements,
-    const gtsam::TriangulationParameters& params);
-
-// Cal3Unified versions
-gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
-                                gtsam::Cal3Unified* sharedCal,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
-gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
-                                const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr,
-                                const bool useLOST = false);
-gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
-                                   gtsam::Cal3Unified* sharedCal,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Unified& cameras,
-                                   const gtsam::Point2Vector& measurements,
-                                   const gtsam::Point3& initialEstimate);
-gtsam::TriangulationResult triangulateSafe(
-    const gtsam::CameraSetCal3Unified& cameras,
-    const gtsam::Point2Vector& measurements,
-    const gtsam::TriangulationParameters& params);
-
-// Spherical versions
-gtsam::Point3 triangulatePoint3(
-    const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
-    const gtsam::SphericalCamera::MeasurementVector& measurements,
-    double rank_tol, bool optimize,
-    const gtsam::SharedNoiseModel& model = nullptr,
-    const bool useLOST = false);
-gtsam::Point3 triangulateNonlinear(
-    const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
-    const gtsam::SphericalCamera::MeasurementVector& measurements,
-    const gtsam::Point3& initialEstimate);
-gtsam::TriangulationResult triangulateSafe(
-    const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
-    const gtsam::SphericalCamera::MeasurementVector& measurements,
-    const gtsam::TriangulationParameters& params);
-
-
 #include <gtsam/geometry/BearingRange.h>
 template <POSE, POINT, BEARING, RANGE>
 class BearingRange {
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 22353a952a..8e50172a3c 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -53,6 +53,9 @@ endif()
 
 # Set the wrapping script variable
 set(PYBIND_WRAP_SCRIPT "${PROJECT_SOURCE_DIR}/wrap/scripts/pybind_wrap.py")
+
+# Disable pybind11's default LTO for wrapper modules to improve link times.
+set(CMAKE_INTERPROCEDURAL_OPTIMIZATION OFF)
 ############################################################
 
 add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i")
@@ -95,6 +98,7 @@ set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
     ${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
     ${PROJECT_SOURCE_DIR}/gtsam/geometry/geometry.i
+    ${PROJECT_SOURCE_DIR}/gtsam/geometry/cameras.i
     ${PROJECT_SOURCE_DIR}/gtsam/linear/linear.i
     ${PROJECT_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
     ${PROJECT_SOURCE_DIR}/gtsam/nonlinear/values.i
@@ -133,6 +137,17 @@ pybind_wrap(${GTSAM_PYTHON_TARGET} # target
 
 SET_PYTHON_TARGET_PROPERTIES(${GTSAM_PYTHON_TARGET} ${GTSAM_OUTPUT_NAME} "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam")
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    # Generated pybind wrappers can trigger GCC's non-actionable psABI notes.
+    target_compile_options(${GTSAM_PYTHON_TARGET} PRIVATE -Wno-psabi)
+endif()
+
+if(GTSAM_ENABLE_BOOST_SERIALIZATION)
+    # Boost 1.87 emits deprecated-header pragma messages through serialization
+    # internals; limit suppression to wrapper compilation.
+    target_compile_definitions(${GTSAM_PYTHON_TARGET} PRIVATE BOOST_ALLOW_DEPRECATED_HEADERS)
+endif()
+
 if(WIN32)
     set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES
         SUFFIX ".pyd"
@@ -242,6 +257,17 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
 
     SET_PYTHON_TARGET_PROPERTIES(${GTSAM_PYTHON_UNSTABLE_TARGET} ${GTSAM_UNSTABLE_OUTPUT_NAME} "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable")
 
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        # Generated pybind wrappers can trigger GCC's non-actionable psABI notes.
+        target_compile_options(${GTSAM_PYTHON_UNSTABLE_TARGET} PRIVATE -Wno-psabi)
+    endif()
+
+    if(GTSAM_ENABLE_BOOST_SERIALIZATION)
+        # Boost 1.87 emits deprecated-header pragma messages through serialization
+        # internals; limit suppression to wrapper compilation.
+        target_compile_definitions(${GTSAM_PYTHON_UNSTABLE_TARGET} PRIVATE BOOST_ALLOW_DEPRECATED_HEADERS)
+    endif()
+
     set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable)
 
     # Copy all python files to build folder.
diff --git a/python/gtsam/preamble/cameras.h b/python/gtsam/preamble/cameras.h
new file mode 100644
index 0000000000..ad4b20e60a
--- /dev/null
+++ b/python/gtsam/preamble/cameras.h
@@ -0,0 +1,18 @@
+/* Please refer to:
+ * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
+ * These are required to save one copy operation on Python calls.
+ *
+ * NOTES
+ * =================
+ *
+ * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
+ * 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++.
+ */
+
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::SphericalCamera>);
diff --git a/python/gtsam/preamble/geometry.h b/python/gtsam/preamble/geometry.h
index ad4b20e60a..e69de29bb2 100644
--- a/python/gtsam/preamble/geometry.h
+++ b/python/gtsam/preamble/geometry.h
@@ -1,18 +0,0 @@
-/* Please refer to:
- * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
- * These are required to save one copy operation on Python calls.
- *
- * NOTES
- * =================
- *
- * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
- * 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++.
- */
-
-PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>);
-PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>);
-PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>);
-PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>);
-PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::SphericalCamera>);
diff --git a/python/gtsam/specializations/cameras.h b/python/gtsam/specializations/cameras.h
new file mode 100644
index 0000000000..4469ea481d
--- /dev/null
+++ b/python/gtsam/specializations/cameras.h
@@ -0,0 +1,25 @@
+/* Please refer to:
+ * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
+ * These are required to save one copy operation on Python calls.
+ *
+ * NOTES
+ * =================
+ *
+ * `py::bind_vector` and similar machinery gives the std container a Python-like
+ * interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
+ * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
+ * and saves one copy operation.
+ */
+
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(
+    m_, "CameraSetCal3_S2");
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3DS2>>>(
+    m_, "CameraSetCal3DS2");
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(
+    m_, "CameraSetCal3Bundler");
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>>(
+    m_, "CameraSetCal3Unified");
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>>(
+    m_, "CameraSetCal3Fisheye");
+py::bind_vector<gtsam::CameraSet<gtsam::SphericalCamera>>(
+    m_, "CameraSetSpherical");
diff --git a/python/gtsam/specializations/geometry.h b/python/gtsam/specializations/geometry.h
index 4469ea481d..e69de29bb2 100644
--- a/python/gtsam/specializations/geometry.h
+++ b/python/gtsam/specializations/geometry.h
@@ -1,25 +0,0 @@
-/* Please refer to:
- * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
- * These are required to save one copy operation on Python calls.
- *
- * NOTES
- * =================
- *
- * `py::bind_vector` and similar machinery gives the std container a Python-like
- * interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
- * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
- * and saves one copy operation.
- */
-
-py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(
-    m_, "CameraSetCal3_S2");
-py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3DS2>>>(
-    m_, "CameraSetCal3DS2");
-py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(
-    m_, "CameraSetCal3Bundler");
-py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>>(
-    m_, "CameraSetCal3Unified");
-py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>>(
-    m_, "CameraSetCal3Fisheye");
-py::bind_vector<gtsam::CameraSet<gtsam::SphericalCamera>>(
-    m_, "CameraSetSpherical");