diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp
index edf122d3c..18a25c553 100644
--- a/gtsam/geometry/tests/testSimpleCamera.cpp
+++ b/gtsam/geometry/tests/testSimpleCamera.cpp
@@ -26,6 +26,8 @@
 using namespace std;
 using namespace gtsam;
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
+
 static const Cal3_S2 K(625, 625, 0, 0, 0);
 
 static const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()),
@@ -149,6 +151,8 @@ TEST( SimpleCamera, simpleCamera)
   CHECK(assert_equal(expected, actual,1e-1));
 }
 
+#endif
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */
diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp
index 8a661f2ef..803e4353a 100644
--- a/gtsam_unstable/slam/serialization.cpp
+++ b/gtsam_unstable/slam/serialization.cpp
@@ -43,7 +43,6 @@ typedef PriorFactor<Pose3>                PriorFactorPose3;
 typedef PriorFactor<Cal3_S2>              PriorFactorCal3_S2;
 typedef PriorFactor<Cal3DS2>              PriorFactorCal3DS2;
 typedef PriorFactor<CalibratedCamera>     PriorFactorCalibratedCamera;
-typedef PriorFactor<SimpleCamera>         PriorFactorSimpleCamera;
 typedef PriorFactor<PinholeCameraCal3_S2> PriorFactorPinholeCameraCal3_S2;
 typedef PriorFactor<StereoCamera>         PriorFactorStereoCamera;
 
@@ -68,7 +67,6 @@ typedef NonlinearEquality<Pose3>                  NonlinearEqualityPose3;
 typedef NonlinearEquality<Cal3_S2>                NonlinearEqualityCal3_S2;
 typedef NonlinearEquality<Cal3DS2>                NonlinearEqualityCal3DS2;
 typedef NonlinearEquality<CalibratedCamera>       NonlinearEqualityCalibratedCamera;
-typedef NonlinearEquality<SimpleCamera>           NonlinearEqualitySimpleCamera;
 typedef NonlinearEquality<PinholeCameraCal3_S2>   NonlinearEqualityPinholeCameraCal3_S2;
 typedef NonlinearEquality<StereoCamera>           NonlinearEqualityStereoCamera;
 
@@ -77,10 +75,8 @@ typedef RangeFactor<Pose3, Point3>                              RangeFactor3D;
 typedef RangeFactor<Pose2, Pose2>                               RangeFactorPose2;
 typedef RangeFactor<Pose3, Pose3>                               RangeFactorPose3;
 typedef RangeFactor<CalibratedCamera, Point3>                   RangeFactorCalibratedCameraPoint;
-typedef RangeFactor<SimpleCamera, Point3>                       RangeFactorSimpleCameraPoint;
 typedef RangeFactor<PinholeCameraCal3_S2, Point3>               RangeFactorPinholeCameraCal3_S2Point;
 typedef RangeFactor<CalibratedCamera, CalibratedCamera>         RangeFactorCalibratedCamera;
-typedef RangeFactor<SimpleCamera, SimpleCamera>                 RangeFactorSimpleCamera;
 typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2;
 
 typedef BearingRangeFactor<Pose2, Point2>  BearingRangeFactor2D;
@@ -90,6 +86,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
 typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
+//TODO fix issue 621
 //typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@@ -129,7 +126,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
 GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
 GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
 GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
-GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
 GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
 GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
 
@@ -150,7 +146,6 @@ BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3");
 BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2");
 BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2");
 BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera");
-BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
 BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera");
 
 BOOST_CLASS_EXPORT_GUID(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector");
@@ -174,7 +169,6 @@ BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3")
 BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2");
 BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2");
 BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
 BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera");
 
 BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D");
@@ -182,9 +176,7 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
 BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
 BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
 BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
-BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
 BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
-BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
 
 BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
 
@@ -192,12 +184,29 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
 BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
+//TODO Fix issue 621
 //BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
 
 BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D");
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
+
+typedef PriorFactor<SimpleCamera>               PriorFactorSimpleCamera;
+typedef NonlinearEquality<SimpleCamera>         NonlinearEqualitySimpleCamera;
+typedef RangeFactor<SimpleCamera, Point3>       RangeFactorSimpleCameraPoint;
+typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
+
+GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
+BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
+BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
+BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
+
+#endif
+
+
 /* ************************************************************************* */
 // Actual implementations of functions
 /* ************************************************************************* */
diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp
index 84e521156..53086e921 100644
--- a/tests/testSerializationSLAM.cpp
+++ b/tests/testSerializationSLAM.cpp
@@ -89,10 +89,8 @@ typedef RangeFactor<Pose3, Point3>                              RangeFactor3D;
 typedef RangeFactor<Pose2, Pose2>                               RangeFactorPose2;
 typedef RangeFactor<Pose3, Pose3>                               RangeFactorPose3;
 typedef RangeFactor<CalibratedCamera, Point3>                   RangeFactorCalibratedCameraPoint;
-typedef RangeFactor<SimpleCamera, Point3>                       RangeFactorSimpleCameraPoint;
 typedef RangeFactor<PinholeCameraCal3_S2, Point3>               RangeFactorPinholeCameraCal3_S2Point;
 typedef RangeFactor<CalibratedCamera, CalibratedCamera>         RangeFactorCalibratedCamera;
-typedef RangeFactor<SimpleCamera, SimpleCamera>                 RangeFactorSimpleCamera;
 typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2;
 
 typedef BearingRangeFactor<Pose2, Point2>  BearingRangeFactor2D;
@@ -102,6 +100,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
 typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
+//TODO Fix issue 621 for this to work
 //typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@@ -145,7 +144,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
 GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
 GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
 GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
-GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
 GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
 GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
 
@@ -190,9 +188,9 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
 BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
 BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
 BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
-BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
+BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point");
 BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
-BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
+BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2");
 
 BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
 
@@ -200,6 +198,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
 BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
+//TODO fix issue 621
 //BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
@@ -352,9 +351,9 @@ TEST (testSerializationSLAM, factors) {
   RangeFactorPose2 rangeFactorPose2(a08, b08, 2.0, model1);
   RangeFactorPose3 rangeFactorPose3(a09, b09, 2.0, model1);
   RangeFactorCalibratedCameraPoint rangeFactorCalibratedCameraPoint(a12, a05, 2.0, model1);
-  RangeFactorSimpleCameraPoint rangeFactorSimpleCameraPoint(a13, a05, 2.0, model1);
+  RangeFactorPinholeCameraCal3_S2Point rangeFactorPinholeCameraCal3_S2Point(a13, a05, 2.0, model1);
   RangeFactorCalibratedCamera rangeFactorCalibratedCamera(a12, b12, 2.0, model1);
-  RangeFactorSimpleCamera rangeFactorSimpleCamera(a13, b13, 2.0, model1);
+  RangeFactorPinholeCameraCal3_S2 rangeFactorPinholeCameraCal3_S2(a13, b13, 2.0, model1);
 
   BearingRangeFactor2D bearingRangeFactor2D(a08, a03, rot2, 2.0, model2);
 
@@ -405,9 +404,9 @@ TEST (testSerializationSLAM, factors) {
   graph += rangeFactorPose2;
   graph += rangeFactorPose3;
   graph += rangeFactorCalibratedCameraPoint;
-  graph += rangeFactorSimpleCameraPoint;
+  graph += rangeFactorPinholeCameraCal3_S2Point;
   graph += rangeFactorCalibratedCamera;
-  graph += rangeFactorSimpleCamera;
+  graph += rangeFactorPinholeCameraCal3_S2;
 
   graph += bearingRangeFactor2D;
 
@@ -463,9 +462,9 @@ TEST (testSerializationSLAM, factors) {
   EXPECT(equalsObj<RangeFactorPose2>(rangeFactorPose2));
   EXPECT(equalsObj<RangeFactorPose3>(rangeFactorPose3));
   EXPECT(equalsObj<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
-  EXPECT(equalsObj<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
+  EXPECT(equalsObj<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
   EXPECT(equalsObj<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
-  EXPECT(equalsObj<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
+  EXPECT(equalsObj<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
 
   EXPECT(equalsObj<BearingRangeFactor2D>(bearingRangeFactor2D));
 
@@ -521,9 +520,9 @@ TEST (testSerializationSLAM, factors) {
   EXPECT(equalsXML<RangeFactorPose2>(rangeFactorPose2));
   EXPECT(equalsXML<RangeFactorPose3>(rangeFactorPose3));
   EXPECT(equalsXML<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
-  EXPECT(equalsXML<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
+  EXPECT(equalsXML<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
   EXPECT(equalsXML<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
-  EXPECT(equalsXML<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
+  EXPECT(equalsXML<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
 
   EXPECT(equalsXML<BearingRangeFactor2D>(bearingRangeFactor2D));
 
@@ -579,9 +578,9 @@ TEST (testSerializationSLAM, factors) {
   EXPECT(equalsBinary<RangeFactorPose2>(rangeFactorPose2));
   EXPECT(equalsBinary<RangeFactorPose3>(rangeFactorPose3));
   EXPECT(equalsBinary<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
-  EXPECT(equalsBinary<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
+  EXPECT(equalsBinary<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
   EXPECT(equalsBinary<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
-  EXPECT(equalsBinary<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
+  EXPECT(equalsBinary<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
 
   EXPECT(equalsBinary<BearingRangeFactor2D>(bearingRangeFactor2D));