diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 69b8bfebf..d3a4973ed 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2599,6 +2599,7 @@ virtual class BearingFactor : gtsam::NoiseModelFactor {
 };
 
 typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;
+typedef gtsam::BearingFactor<gtsam::Pose3, gtsam::Point3, gtsam::Unit3> BearingFactor3D;
 typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Pose2, gtsam::Rot2> BearingFactorPose2;
 
 #include <gtsam/geometry/BearingRange.h>
diff --git a/matlab/+gtsam/Contents.m b/matlab/+gtsam/Contents.m
index 035e7e509..fb6d3081e 100644
--- a/matlab/+gtsam/Contents.m
+++ b/matlab/+gtsam/Contents.m
@@ -99,6 +99,7 @@
 % 
 %% SLAM and SFM
 %   BearingFactor2D                   - class BearingFactor2D, see Doxygen page for details
+%   BearingFactor3D                   - class BearingFactor3D, see Doxygen page for details
 %   BearingRangeFactor2D              - class BearingRangeFactor2D, see Doxygen page for details
 %   BetweenFactorLieMatrix            - class BetweenFactorLieMatrix, see Doxygen page for details
 %   BetweenFactorLieScalar            - class BetweenFactorLieScalar, see Doxygen page for details