diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 31c8270a4..2516b2bcc 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -20,12 +20,31 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/base/concepts.h>
+#include <gtsam/base/Manifold.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/Vector.h>
+
+#include <boost/none.hpp>
+#include <boost/optional/optional.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/smart_ptr/shared_ptr.hpp>
 #include <iostream>
+#include <string>
+
+namespace boost {
+namespace serialization {
+class access;
+} /* namespace serialization */
+} /* namespace boost */
 
 namespace gtsam {
 
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 851adacf5..5ad1ff2c0 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -15,19 +15,34 @@
  * @brief utility functions for loading datasets
  */
 
-#include <gtsam/slam/dataset.h>
-#include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/BearingRangeFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/slam/dataset.h>
+#include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Pose2.h>
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/linear/Sampler.h>
+#include <gtsam/base/GenericValue.h>
+#include <gtsam/base/Lie.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/Value.h>
+#include <gtsam/base/Vector.h>
 
-#include <boost/filesystem.hpp>
+#include <boost/assign/list_inserter.hpp>
+#include <boost/filesystem/operations.hpp>
+#include <boost/filesystem/path.hpp>
+#include <boost/foreach.hpp>
 
+#include <cmath>
 #include <fstream>
-#include <sstream>
-#include <cstdlib>
+#include <iostream>
+#include <stdexcept>
 
 using namespace std;
 namespace fs = boost::filesystem;
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 21c23f0e0..54e27229c 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -18,16 +18,21 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/linear/NoiseModel.h>
-#include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Point2.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/base/types.h>
 
-#include <vector>
-#include <utility> // for pair
+#include <boost/smart_ptr/shared_ptr.hpp>
 #include <string>
+#include <utility> // for pair
+#include <vector>
 
 namespace gtsam {