diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp
index a0ba634e2..6e85ea504 100644
--- a/python/handwritten/exportgtsam.cpp
+++ b/python/handwritten/exportgtsam.cpp
@@ -35,6 +35,7 @@ void exportRot3();
 void exportPose2();
 void exportPose3();
 void exportPinholeCamera();
+void exportCal3_S2();
 
 // Inference
 void exportSymbol();
@@ -72,6 +73,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){
   exportPose2();
   exportPose3();
   exportPinholeCamera();
+  exportCal3_S2();
 
   exportSymbol();
 
diff --git a/python/handwritten/geometry/Cal3_S2.cpp b/python/handwritten/geometry/Cal3_S2.cpp
new file mode 100644
index 000000000..339cd6a3c
--- /dev/null
+++ b/python/handwritten/geometry/Cal3_S2.cpp
@@ -0,0 +1,62 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @brief wraps Cal3_S2 class to python
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+#include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
+#include "gtsam/geometry/Cal3_S2.h"
+
+using namespace boost::python;
+using namespace gtsam;
+
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Cal3_S2::print, 0, 1)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Cal3_S2::equals, 1, 2)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(uncalibrate_overloads, Cal3_S2::uncalibrate, 1, 3)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(calibrate_overloads, Cal3_S2::calibrate, 1, 3)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Cal3_S2::between, 1, 3)
+
+// Function pointers to desambiguate Cal3_S2::calibrate calls
+Point2 (Cal3_S2::*calibrate1)(const Point2 &, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp) const = &Cal3_S2::calibrate;
+Vector3 (Cal3_S2::*calibrate2)(const Vector3 &) const = &Cal3_S2::calibrate;
+
+void exportCal3_S2(){
+
+class_<Cal3_S2>("Cal3_S2", init<>())
+  .def(init<double,double,double,double,double>())
+  .def(init<const Vector &>())
+  .def(init<double,int,int>())
+  .def(init<std::string>())
+  .def("print", &Cal3_S2::print, print_overloads(args("s")))
+  .def("equals", &Cal3_S2::equals, equals_overloads(args("q","tol")))
+  .def("fx",&Cal3_S2::fx)
+  .def("fy",&Cal3_S2::fy)
+  .def("skew",&Cal3_S2::skew)
+  .def("px",&Cal3_S2::px)
+  .def("py",&Cal3_S2::py)
+  .def("principal_point",&Cal3_S2::principalPoint)
+  .def("vector",&Cal3_S2::vector)
+  .def("k",&Cal3_S2::K)
+  .def("matrix",&Cal3_S2::matrix)
+  .def("matrix_inverse",&Cal3_S2::matrix_inverse)
+  .def("uncalibrate",&Cal3_S2::uncalibrate, uncalibrate_overloads())
+  .def("calibrate",calibrate1, calibrate_overloads())
+  .def("calibrate",calibrate2)
+  .def("between",&Cal3_S2::between, between_overloads())
+;
+
+}
\ No newline at end of file