diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 63fd7056a..0dc23c160 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -927,6 +927,16 @@ class PinholeCamera {
   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::Cal3Fisheye> PinholeCameraCal3Fisheye;
+
 #include <gtsam/geometry/PinholePose.h>
 template <CALIBRATION>
 class PinholePose {
@@ -978,6 +988,12 @@ class PinholePose {
   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/Similarity2.h>
 class Similarity2 {
   // Standard Constructors
@@ -1024,22 +1040,6 @@ class Similarity3 {
   double scale() 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::Cal3Fisheye> PinholeCameraCal3Fisheye;
-
-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;
-
 template <T>
 class CameraSet {
   CameraSet();
diff --git a/gtsam/sfm/SfmData.h b/gtsam/sfm/SfmData.h
index afce12205..430e107ad 100644
--- a/gtsam/sfm/SfmData.h
+++ b/gtsam/sfm/SfmData.h
@@ -77,10 +77,14 @@ struct GTSAM_EXPORT SfmData {
   size_t numberCameras() const { return cameras.size(); }
 
   /// The track formed by series of landmark measurements
-  SfmTrack track(size_t idx) const { return tracks[idx]; }
+  const SfmTrack& track(size_t idx) const { return tracks[idx]; }
 
   /// The camera pose at frame index `idx`
-  SfmCamera camera(size_t idx) const { return cameras[idx]; }
+  const SfmCamera& camera(size_t idx) const { return cameras[idx]; }
+
+  /// Getters
+  const std::vector<SfmCamera>& cameraList() const { return cameras; }
+  const std::vector<SfmTrack>& trackList() const { return tracks; }
 
   /**
    * @brief Create projection factors using keys i and P(j)
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 901270d9c..0a61874c1 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -36,15 +36,15 @@ class SfmData {
   static gtsam::SfmData FromBundlerFile(string filename);
   static gtsam::SfmData FromBalFile(string filename);
 
-  std::vector<gtsam::SfmTrack> tracks;
-  std::vector<gtsam::PinholeCamera<gtsam::Cal3Bundler>> cameras;
+  std::vector<gtsam::SfmTrack>& trackList() const;
+  std::vector<gtsam::PinholeCamera<gtsam::Cal3Bundler>>& cameraList() const;
 
   void addTrack(const gtsam::SfmTrack& t);
   void addCamera(const gtsam::SfmCamera& cam);
   size_t numberTracks() const;
   size_t numberCameras() const;
-  gtsam::SfmTrack track(size_t idx) const;
-  gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
+  gtsam::SfmTrack& track(size_t idx) const;
+  gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera(size_t idx) const;
 
   gtsam::NonlinearFactorGraph generalSfmFactors(
       const gtsam::SharedNoiseModel& model =