diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index dc450a9f7..7c4d7fea7 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 BinaryMeasurementsRot3 = std::vector<BinaryMeasurement<Rot3>>;
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
 inline boost::optional<IndexedPose> GTSAM_DEPRECATED
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 0d143354d..0c8dc314b 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -48,6 +48,7 @@ set(ignore
     gtsam::Rot3Vector
     gtsam::KeyVector
     gtsam::BinaryMeasurementsUnit3
+    gtsam::BinaryMeasurementsRot3
     gtsam::DiscreteKey
     gtsam::KeyPairDoubleMap)
 
@@ -137,6 +138,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::KeyVector
             gtsam::FixedLagSmootherKeyTimestampMapValue
             gtsam::BinaryMeasurementsUnit3
+            gtsam::BinaryMeasurementsRot3
             gtsam::CameraSetCal3_S2
             gtsam::CameraSetCal3Bundler
             gtsam::CameraSetCal3Unified
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index 778375b6b..c74f37109 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -18,4 +18,8 @@ PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::SfmTrack>);
 
 PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::SfmCamera>);
\ No newline at end of file
+    std::vector<gtsam::SfmCamera>);
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::BinaryMeasurement<gtsam::Unit3>>);
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index a7a1e822f..90a2b8417 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -13,6 +13,8 @@
 
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
     m_, "BinaryMeasurementsUnit3");
+py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Rot3> > >(
+    m_, "BinaryMeasurementsRot3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
 
 py::bind_vector<