diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index d9f2b9c3d..5afc159bd 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -144,8 +144,8 @@ protected:
   template<class SFM_TRACK>
   void add(const SFM_TRACK& trackToAdd) {
     for (size_t k = 0; k < trackToAdd.number_measurements(); k++) {
-      this->measured_.push_back(trackToAdd.measurements[k].second);
-      this->keys_.push_back(trackToAdd.measurements[k].first);
+      this->measured_.push_back(trackToAdd.Measurements[k].second);
+      this->keys_.push_back(trackToAdd.Measurements[k].first);
     }
   }
 
diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp
index aad9124c5..ff5cf8b46 100644
--- a/gtsam/slam/tests/testDataset.cpp
+++ b/gtsam/slam/tests/testDataset.cpp
@@ -166,9 +166,9 @@ TEST( dataSet, Balbianello)
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
-  EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
+  EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
   const SfmCamera& camera0 = mydata.cameras[0];
-  Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
+  Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
   EXPECT(assert_equal(expected,actual,1));
 }
 
@@ -476,9 +476,9 @@ TEST( dataSet, readBAL_Dubrovnik)
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
-  EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
+  EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
   const SfmCamera& camera0 = mydata.cameras[0];
-  Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
+  Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
   EXPECT(assert_equal(expected,actual,12));
 }
 
@@ -557,8 +557,8 @@ TEST( dataSet, writeBAL_Dubrovnik)
 
     // check measurements
     for (size_t k = 0; k < actualTrack.number_measurements(); k++){
-      EXPECT_LONGS_EQUAL(expectedTrack.measurements[k].first,actualTrack.measurements[k].first);
-      EXPECT(assert_equal(expectedTrack.measurements[k].second,actualTrack.measurements[k].second));
+      EXPECT_LONGS_EQUAL(expectedTrack.Measurements[k].first,actualTrack.Measurements[k].first);
+      EXPECT(assert_equal(expectedTrack.Measurements[k].second,actualTrack.Measurements[k].second));
     }
   }
 }
@@ -600,9 +600,9 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
-  EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
+  EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
   const SfmCamera& camera0 = writtenData.cameras[0];
-  Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
+  Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
   EXPECT(assert_equal(expected,actual,12));
 
   Pose3 expectedPose = camera0.pose();
diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 95db611d7..6bece036f 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -46,10 +46,10 @@ EssentialMatrix trueE(trueRotation, trueDirection);
 double baseline = 0.1; // actual baseline of the camera
 
 Point2 pA(size_t i) {
-  return data.tracks[i].measurements[0].second;
+  return data.tracks[i].Measurements[0].second;
 }
 Point2 pB(size_t i) {
-  return data.tracks[i].measurements[1].second;
+  return data.tracks[i].Measurements[1].second;
 }
 Vector vA(size_t i) {
   return EssentialMatrix::Homogeneous(pA(i));
@@ -367,10 +367,10 @@ EssentialMatrix trueE(aRb, Unit3(aTb));
 double baseline = 10; // actual baseline of the camera
 
 Point2 pA(size_t i) {
-  return data.tracks[i].measurements[0].second;
+  return data.tracks[i].Measurements[0].second;
 }
 Point2 pB(size_t i) {
-  return data.tracks[i].measurements[1].second;
+  return data.tracks[i].Measurements[1].second;
 }
 
 boost::shared_ptr<Cal3Bundler> //
diff --git a/gtsam/slam/tests/testSmartProjectionFactor.cpp b/gtsam/slam/tests/testSmartProjectionFactor.cpp
index 1fd06cc9f..1f3a5d1cb 100644
--- a/gtsam/slam/tests/testSmartProjectionFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionFactor.cpp
@@ -283,14 +283,14 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) {
 
   SfmTrack track1;
   for (size_t i = 0; i < 3; ++i) {
-    track1.measurements.emplace_back(i + 1, measurements_cam1.at(i));
+    track1.Measurements.emplace_back(i + 1, measurements_cam1.at(i));
   }
   SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2));
   smartFactor1->add(track1);
 
   SfmTrack track2;
   for (size_t i = 0; i < 3; ++i) {
-    track2.measurements.emplace_back(i + 1, measurements_cam2.at(i));
+    track2.Measurements.emplace_back(i + 1, measurements_cam2.at(i));
   }
   SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2));
   smartFactor2->add(track2);
diff --git a/tests/testGeneralSFMFactorB.cpp b/tests/testGeneralSFMFactorB.cpp
index 05b4c7f66..fafe87d13 100644
--- a/tests/testGeneralSFMFactorB.cpp
+++ b/tests/testGeneralSFMFactorB.cpp
@@ -50,7 +50,7 @@ TEST(PinholeCamera, BAL) {
   NonlinearFactorGraph graph;
 
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    for (const SfmMeasurement& m: db.tracks[j].measurements)
+    for (const SfmMeasurement& m: db.tracks[j].Measurements)
       graph.emplace_shared<sfmFactor>(m.second, unit2, m.first, P(j));
   }