diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 36a73b792..2b6f37a45 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -85,6 +85,7 @@ class BinaryMeasurement {
 
 typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3;
 typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3;
+typedef gtsam::BinaryMeasurement<gtsam::Point3> BinaryMeasurementPoint3;
 
 class BinaryMeasurementsUnit3 {
   BinaryMeasurementsUnit3();
@@ -93,6 +94,13 @@ class BinaryMeasurementsUnit3 {
   void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3>& measurement);
 };
 
+class BinaryMeasurementsPoint3 {
+  BinaryMeasurementsPoint3();
+  size_t size() const;
+  gtsam::BinaryMeasurement<gtsam::Point3> at(size_t idx) const;
+  void push_back(const gtsam::BinaryMeasurement<gtsam::Point3>& measurement);
+};
+
 #include <gtsam/sfm/ShonanAveraging.h>
 
 // TODO(frank): copy/pasta below until we have integer template paremeters in
@@ -254,23 +262,23 @@ class MFAS {
 };
 
 #include <gtsam/sfm/TranslationRecovery.h>
+class TranslationRecoveryParams {
+  gtsam::BinaryMeasurementsPoint3 getBetweenTranslations() const;
+  gtsam::Values getInitialValues() const;
+  gtsam::LevenbergMarquardtParams getLMParams() const;
+
+  void setBetweenTranslations(
+      const gtsam::BinaryMeasurementsPoint3& betweenTranslations);
+  void setInitialValues(const gtsam::Values& values);
+  void setLMParams(const gtsam::LevenbergMarquardtParams& lmParams);
+};
+
 class TranslationRecovery {
   TranslationRecovery(
       const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
-      const gtsam::LevenbergMarquardtParams& lmParams);
-  TranslationRecovery(
-      const gtsam::BinaryMeasurementsUnit3&
-          relativeTranslations);  // default LevenbergMarquardtParams
-  gtsam::NonlinearFactorGraph buildGraph() const;
-  gtsam::Values initializeRandomly() const;
-  void addPrior(gtsam::Key i, const gtsam::Point3& prior,
-                gtsam::NonlinearFactorGraph* graph,
-                const gtsam::SharedNoiseModel& model =
-                    gtsam::noiseModel::Isotropic::Sigma(3, 0.01)) const;
-  void addRelativeHardConstraint(gtsam::Key i, gtsam::Key j,
-                                 const gtsam::Point3& w_itj,
-                                 gtsam::NonlinearFactorGraph* graph) const;
-  gtsam::Values addDuplicateNodes(const gtsam::Values& result) const;
+      const gtsam::TranslationRecoveryParams& lmParams);
+  TranslationRecovery(const gtsam::BinaryMeasurementsUnit3&
+                          relativeTranslations);  // default params
   gtsam::Values run(const double scale) const;
   gtsam::Values run() const;  // default scale = 1.0
 };
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index dc450a9f7..247be5bae 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -223,6 +223,7 @@ parse3DFactors(const std::string &filename,
                size_t maxIndex = 0);
 
 using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>;
+using BinaryMeasurementsPoint3 = std::vector<BinaryMeasurement<Point3>>;
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
 inline boost::optional<IndexedPose> GTSAM_DEPRECATED
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index f5869b145..6c0c6e83a 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -47,6 +47,7 @@ set(ignore
     gtsam::Pose3Vector
     gtsam::Rot3Vector
     gtsam::KeyVector
+    gtsam::BinaryMeasurementsPoint3
     gtsam::BinaryMeasurementsUnit3
     gtsam::DiscreteKey
     gtsam::KeyPairDoubleMap)
@@ -124,6 +125,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::Pose3Vector
             gtsam::KeyVector
             gtsam::FixedLagSmootherKeyTimestampMapValue
+            gtsam::BinaryMeasurementsPoint3
             gtsam::BinaryMeasurementsUnit3
             gtsam::CameraSetCal3_S2
             gtsam::CameraSetCal3Bundler
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 6de15217f..7a5084d4a 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -11,6 +11,8 @@
  * and saves one copy operation.
  */
 
+py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Point3> > >(
+    m_, "BinaryMeasurementsPoint3");
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
     m_, "BinaryMeasurementsUnit3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");