diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index f493fe8f6..80f694e97 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -537,9 +537,8 @@ class ISAM2 {
   gtsam::Values calculateEstimate() const;
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
-                     gtsam::Cal3Bundler, gtsam::EssentialMatrix,
-                     gtsam::Cal3Bundler, gtsam::FundamentalMatrix,
-                     gtsam::Cal3Bundler, gtsam::SimpleFundamentalMatrix,
+                     gtsam::Cal3f, gtsam::Cal3Bundler, 
+                     gtsam::EssentialMatrix, gtsam::FundamentalMatrix, gtsam::SimpleFundamentalMatrix,
                      gtsam::PinholeCamera<gtsam::Cal3_S2>,
                      gtsam::PinholeCamera<gtsam::Cal3Bundler>,
                      gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
diff --git a/gtsam/nonlinear/values.i b/gtsam/nonlinear/values.i
index 3582a3249..a75fe5ae1 100644
--- a/gtsam/nonlinear/values.i
+++ b/gtsam/nonlinear/values.i
@@ -4,13 +4,14 @@
 
 namespace gtsam {
 
+#include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/Cal3DS2.h>
+#include <gtsam/geometry/Cal3f.h>
 #include <gtsam/geometry/Cal3Fisheye.h>
 #include <gtsam/geometry/Cal3Unified.h>
-#include <gtsam/geometry/Cal3_S2.h>
-#include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/EssentialMatrix.h>
+#include <gtsam/geometry/FundamentalMatrix.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Point3.h>
@@ -80,17 +81,24 @@ 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::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& essential_matrix);
+  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::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::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);
@@ -115,17 +123,24 @@ 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::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& essential_matrix);
+  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::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::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);
@@ -147,23 +162,33 @@ 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::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::EssentialMatrix& essential_matrix);
+                        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,
@@ -185,17 +210,24 @@ class Values {
                  gtsam::Rot3,
                  gtsam::Pose3,
                  gtsam::Unit3,
+                 gtsam::Cal3f, 
                  gtsam::Cal3_S2,
                  gtsam::Cal3DS2,
                  gtsam::Cal3Bundler,
                  gtsam::Cal3Fisheye,
                  gtsam::Cal3Unified,
-                 gtsam::EssentialMatrix,
+                 gtsam::EssentialMatrix, 
+                 gtsam::FundamentalMatrix, 
+                 gtsam::SimpleFundamentalMatrix,
+                 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::Cal3f>,
                  gtsam::PinholePose<gtsam::Cal3_S2>,
+                 gtsam::PinholePose<gtsam::Cal3DS2>,
                  gtsam::PinholePose<gtsam::Cal3Bundler>,
                  gtsam::PinholePose<gtsam::Cal3Fisheye>,
                  gtsam::PinholePose<gtsam::Cal3Unified>,
diff --git a/python/gtsam/examples/EssentialViewGraphExample.py b/python/gtsam/examples/EssentialViewGraphExample.py
index a3c313674..d7d2cda38 100644
--- a/python/gtsam/examples/EssentialViewGraphExample.py
+++ b/python/gtsam/examples/EssentialViewGraphExample.py
@@ -5,9 +5,6 @@
   Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
   See LICENSE for the license information
-
-  Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
-  Author: Frank Dellaert (Python: Akshay Krishnan, John Lambert, Varun Agrawal)
 """
 
 """
diff --git a/python/gtsam/examples/ViewGraphExample.py b/python/gtsam/examples/ViewGraphExample.py
index fe4d78e3c..0ba41762e 100644
--- a/python/gtsam/examples/ViewGraphExample.py
+++ b/python/gtsam/examples/ViewGraphExample.py
@@ -5,9 +5,6 @@
   Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
   See LICENSE for the license information
-
-  Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
-  Author: Frank Dellaert (Python: Akshay Krishnan, John Lambert, Varun Agrawal)
 """
 
 """
@@ -96,7 +93,7 @@ def main():
 
     # Optimize the graph and print results
     params = LevenbergMarquardtParams()
-    params.setLambdaInitial(1000.0)  # Initialize lambda to a high value
+    params.setlambdaInitial(1000.0)  # Initialize lambda to a high value
     params.setVerbosityLM("SUMMARY")
     optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate, params)
     result = optimizer.optimize()