diff --git a/gtsam/nonlinear/values.i b/gtsam/nonlinear/values.i
index a75fe5ae1..99548d8ec 100644
--- a/gtsam/nonlinear/values.i
+++ b/gtsam/nonlinear/values.i
@@ -68,7 +68,7 @@ class Values {
   // gtsam::Value at(size_t j) const;
 
   // The order is important: gtsam::Vector has to precede Point2/Point3 so `atVector`
-  // can work for those fixed-size vectors.
+  // can work for those fixed-size vectors. Same apparently for Cal3Bundler and Cal3f.
   void insert(size_t j, gtsam::Vector vector);
   void insert(size_t j, gtsam::Matrix matrix);
   void insert(size_t j, const gtsam::Point2& point2);
@@ -81,25 +81,25 @@ class Values {
   void insert(size_t j, const gtsam::Rot3& rot3);
   void insert(size_t j, const gtsam::Pose3& pose3);
   void insert(size_t j, const gtsam::Unit3& unit3);
+  void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void insert(size_t j, const gtsam::Cal3f& cal3f);
   void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
   void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
-  void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void insert(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
   void insert(size_t j, const gtsam::Cal3Unified& cal3unified);
   void insert(size_t j, const gtsam::EssentialMatrix& E);
   void insert(size_t j, const gtsam::FundamentalMatrix& F);
   void insert(size_t j, const gtsam::SimpleFundamentalMatrix& F);
+  void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
-  void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
+  void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
   void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
   void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
   void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
-  void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
   void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
   void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
@@ -123,25 +123,25 @@ class Values {
   void update(size_t j, const gtsam::Rot3& rot3);
   void update(size_t j, const gtsam::Pose3& pose3);
   void update(size_t j, const gtsam::Unit3& unit3);
+  void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void update(size_t j, const gtsam::Cal3f& cal3f);
   void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
   void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
-  void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void update(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
   void update(size_t j, const gtsam::Cal3Unified& cal3unified);
   void update(size_t j, const gtsam::EssentialMatrix& E);
   void update(size_t j, const gtsam::FundamentalMatrix& F);
   void update(size_t j, const gtsam::SimpleFundamentalMatrix& F);
+  void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
-  void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
   void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
+  void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
   void update(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
   void update(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
   void update(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
-  void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
   void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
   void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
@@ -162,41 +162,28 @@ class Values {
   void insert_or_assign(size_t j, const gtsam::Rot3& rot3);
   void insert_or_assign(size_t j, const gtsam::Pose3& pose3);
   void insert_or_assign(size_t j, const gtsam::Unit3& unit3);
+  void insert_or_assign(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void insert_or_assign(size_t j, const gtsam::Cal3f& cal3f);
   void insert_or_assign(size_t j, const gtsam::Cal3_S2& cal3_s2);
   void insert_or_assign(size_t j, const gtsam::Cal3DS2& cal3ds2);
-  void insert_or_assign(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void insert_or_assign(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
   void insert_or_assign(size_t j, const gtsam::Cal3Unified& cal3unified);
   void insert_or_assign(size_t j, const gtsam::EssentialMatrix& E);
   void insert_or_assign(size_t j, const gtsam::FundamentalMatrix& F);
   void insert_or_assign(size_t j, const gtsam::SimpleFundamentalMatrix& F);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholePose<gtsam::Cal3f>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
-  void insert_or_assign(size_t j,
-                        const gtsam::imuBias::ConstantBias& constant_bias);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
+  void insert_or_assign(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void insert_or_assign(size_t j, const gtsam::NavState& nav_state);
   void insert_or_assign(size_t j, double c);
 
@@ -210,25 +197,25 @@ class Values {
                  gtsam::Rot3,
                  gtsam::Pose3,
                  gtsam::Unit3,
+                 gtsam::Cal3Bundler,
                  gtsam::Cal3f, 
                  gtsam::Cal3_S2,
                  gtsam::Cal3DS2,
-                 gtsam::Cal3Bundler,
                  gtsam::Cal3Fisheye,
                  gtsam::Cal3Unified,
                  gtsam::EssentialMatrix, 
                  gtsam::FundamentalMatrix, 
                  gtsam::SimpleFundamentalMatrix,
+                 gtsam::PinholeCamera<gtsam::Cal3Bundler>,
                  gtsam::PinholeCamera<gtsam::Cal3f>,
                  gtsam::PinholeCamera<gtsam::Cal3_S2>,
                  gtsam::PinholeCamera<gtsam::Cal3DS2>,
-                 gtsam::PinholeCamera<gtsam::Cal3Bundler>,
                  gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
                  gtsam::PinholeCamera<gtsam::Cal3Unified>,
+                 gtsam::PinholePose<gtsam::Cal3Bundler>,
                  gtsam::PinholePose<gtsam::Cal3f>,
                  gtsam::PinholePose<gtsam::Cal3_S2>,
                  gtsam::PinholePose<gtsam::Cal3DS2>,
-                 gtsam::PinholePose<gtsam::Cal3Bundler>,
                  gtsam::PinholePose<gtsam::Cal3Fisheye>,
                  gtsam::PinholePose<gtsam::Cal3Unified>,
                  gtsam::imuBias::ConstantBias,