diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp
index 84585adff..6afc1f85e 100644
--- a/python/handwritten/exportgtsam.cpp
+++ b/python/handwritten/exportgtsam.cpp
@@ -34,6 +34,7 @@ void exportRot2();
 void exportRot3();
 void exportPose2();
 void exportPose3();
+void exportPinholeCamera();
 
 // Linear
 void exportNoiseModels();
@@ -67,6 +68,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){
   exportRot3();
   exportPose2();
   exportPose3();
+  exportPinholeCamera();
 
   exportNoiseModels();
 
diff --git a/python/handwritten/geometry/PinholeCamera.cpp b/python/handwritten/geometry/PinholeCamera.cpp
new file mode 100644
index 000000000..4123b520c
--- /dev/null
+++ b/python/handwritten/geometry/PinholeCamera.cpp
@@ -0,0 +1,49 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @brief wraps PinholeCamera classes to python
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+#include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
+#include "gtsam/geometry/PinholeCamera.h"
+#include "gtsam/geometry/Cal3_S2.h"
+
+
+using namespace boost::python;
+using namespace gtsam;
+
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, PinholeCamera<Cal3_S2>::print, 0, 1)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PinholeCamera<Cal3_S2>::equals, 1, 2)
+BOOST_PYTHON_FUNCTION_OVERLOADS(Lookat_overloads, PinholeCamera<Cal3_S2>::Lookat, 3, 4)
+
+void exportPinholeCamera(){
+
+class_<PinholeCamera<Cal3_S2> >("PinholeCameraCal3_S2")
+  .def(init<>())
+  .def(init<const Pose3 &>())
+  .def(init<const Pose3 &, const Cal3_S2 &>())
+  .def(init<const Vector &>())
+  .def(init<const Vector &, const Vector &>())
+  .def("print", &PinholeCamera<Cal3_S2>::print, print_overloads(args("s")))
+  .def("equals", &PinholeCamera<Cal3_S2>::equals, equals_overloads(args("q","tol")))
+  .def("pose", &PinholeCamera<Cal3_S2>::pose, return_value_policy<copy_const_reference>())
+  .def("calibration", &PinholeCamera<Cal3_S2>::calibration, return_value_policy<copy_const_reference>())
+  .def("Lookat", &PinholeCamera<Cal3_S2>::Lookat, Lookat_overloads())
+  .staticmethod("Lookat")
+;
+
+}
\ No newline at end of file