diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9d543b87b..9bfa9a758 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -318,7 +318,7 @@ if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
   add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
 endif()
 
-if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
+if(GTSAM_ALLOW_DEPRECATED_SINCE_V4)
 	add_definitions(-DGTSAM_ALLOW_DEPRECATED_SINCE_V4)
 endif()
 
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 5b7acb4be..264be1537 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -493,7 +493,7 @@ namespace gtsam {
     static Rot3 roll (double t) { return Roll(t); }
     static Rot3 ypr(double y, double p, double r) { return Ypr(r,p,y);}
     static Rot3 quaternion(double w, double x, double y, double z) {
-      return Rot3::Quaternion q(w, x, y, z);
+      return Rot3::Quaternion(w, x, y, z);
     }
   /// @}
 #endif
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 01141973a..f7ceb62b3 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -48,7 +48,7 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU
 	include_directories(${NUMPY_INCLUDE_DIRS})
 	include_directories(${PYTHON_INCLUDE_DIRS})
 	include_directories(${Boost_INCLUDE_DIRS})
-	include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/)
+	include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/)
 
 	# Build the python module library
 	add_subdirectory(handwritten)
diff --git a/python/handwritten/slam/BearingFactor.cpp b/python/handwritten/slam/BearingFactor.cpp
index 84c67d522..2d4688bde 100644
--- a/python/handwritten/slam/BearingFactor.cpp
+++ b/python/handwritten/slam/BearingFactor.cpp
@@ -3,15 +3,14 @@
 #define NO_IMPORT_ARRAY
 #include <numpy_eigen/NumpyEigenConverter.hpp>
 
-#include <gtsam/slam/BearingFactor.h>
+#include <gtsam/sam/BearingFactor.h>
 
 using namespace boost::python;
 using namespace gtsam;
 
 using namespace std;
 
-template<class VALUE>
-void exportBearingFactor(const std::string& name){
-  class_<VALUE>(name, init<>())
-  ;
-}
\ No newline at end of file
+template <class VALUE>
+void exportBearingFactor(const std::string& name) {
+  class_<VALUE>(name, init<>());
+}
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp b/python/include/numpy_eigen/NumpyEigenConverter.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp
rename to python/include/numpy_eigen/NumpyEigenConverter.hpp
diff --git a/gtsam/3rdparty/numpy_eigen/README.md b/python/include/numpy_eigen/README.md
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/README.md
rename to python/include/numpy_eigen/README.md
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp b/python/include/numpy_eigen/boost_python_headers.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp
rename to python/include/numpy_eigen/boost_python_headers.hpp
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp b/python/include/numpy_eigen/copy_routines.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp
rename to python/include/numpy_eigen/copy_routines.hpp
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp b/python/include/numpy_eigen/type_traits.hpp
similarity index 100%
rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp
rename to python/include/numpy_eigen/type_traits.hpp