diff --git a/.cproject b/.cproject
index 19d3912b0..acb0ea910 100644
--- a/.cproject
+++ b/.cproject
@@ -2455,6 +2455,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="SFMExample_SmartFactorPCG.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>SFMExample_SmartFactorPCG.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -3047,6 +3055,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testRegularHessianFactor.run" path="build/gtsam/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testRegularHessianFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testRegularJacobianFactor.run" path="build/gtsam/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testRegularJacobianFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testWrap.run" path="build/wrap/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam/slam/RegularHessianFactor.h b/gtsam/linear/RegularHessianFactor.h
similarity index 100%
rename from gtsam/slam/RegularHessianFactor.h
rename to gtsam/linear/RegularHessianFactor.h
diff --git a/gtsam/slam/RegularJacobianFactor.h b/gtsam/linear/RegularJacobianFactor.h
similarity index 100%
rename from gtsam/slam/RegularJacobianFactor.h
rename to gtsam/linear/RegularJacobianFactor.h
diff --git a/gtsam/slam/tests/testRegularHessianFactor.cpp b/gtsam/linear/tests/testRegularHessianFactor.cpp
similarity index 98%
rename from gtsam/slam/tests/testRegularHessianFactor.cpp
rename to gtsam/linear/tests/testRegularHessianFactor.cpp
index e2b8ac3cf..07f5b5e42 100644
--- a/gtsam/slam/tests/testRegularHessianFactor.cpp
+++ b/gtsam/linear/tests/testRegularHessianFactor.cpp
@@ -15,7 +15,7 @@
  * @date    March 4, 2014
  */
 
-#include <gtsam/slam/RegularHessianFactor.h>
+#include <gtsam/linear/RegularHessianFactor.h>
 #include <gtsam/linear/VectorValues.h>
 
 #include <CppUnitLite/TestHarness.h>
diff --git a/gtsam/slam/tests/testRegularJacobianFactor.cpp b/gtsam/linear/tests/testRegularJacobianFactor.cpp
similarity index 99%
rename from gtsam/slam/tests/testRegularJacobianFactor.cpp
rename to gtsam/linear/tests/testRegularJacobianFactor.cpp
index 5803516a1..b8c4aa689 100644
--- a/gtsam/slam/tests/testRegularJacobianFactor.cpp
+++ b/gtsam/linear/tests/testRegularJacobianFactor.cpp
@@ -16,7 +16,7 @@
  * @date    Nov 12, 2014
  */
 
-#include <gtsam/slam/RegularJacobianFactor.h>
+#include <gtsam/linear/RegularJacobianFactor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/linear/VectorValues.h>
diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h
index ed6213058..5e8693541 100644
--- a/gtsam/slam/JacobianFactorQ.h
+++ b/gtsam/slam/JacobianFactorQ.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "RegularJacobianFactor.h"
+#include <gtsam/linear/RegularJacobianFactor.h>
 
 namespace gtsam {
 /**
diff --git a/gtsam/slam/JacobianFactorQR.h b/gtsam/slam/JacobianFactorQR.h
index 4c1b0ff14..9c3f8be4a 100644
--- a/gtsam/slam/JacobianFactorQR.h
+++ b/gtsam/slam/JacobianFactorQR.h
@@ -6,9 +6,9 @@
  */
 
 #pragma once
-#include <gtsam/slam/RegularJacobianFactor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/RegularJacobianFactor.h>
 
 namespace gtsam {
 
diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h
index b4389d681..255c799a6 100644
--- a/gtsam/slam/JacobianFactorSVD.h
+++ b/gtsam/slam/JacobianFactorSVD.h
@@ -5,7 +5,7 @@
  */
 
 #pragma once
-#include "gtsam/slam/RegularJacobianFactor.h"
+#include <gtsam/linear/RegularJacobianFactor.h>
 
 namespace gtsam {
 /**
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index a2bdfc059..8cbc2f73c 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -22,9 +22,9 @@
 #include <gtsam/slam/JacobianFactorQ.h>
 #include <gtsam/slam/JacobianFactorSVD.h>
 #include <gtsam/slam/RegularImplicitSchurFactor.h>
-#include <gtsam/slam/RegularHessianFactor.h>
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/linear/RegularHessianFactor.h>
 #include <gtsam/geometry/CameraSet.h>
 
 #include <boost/optional.hpp>
@@ -55,6 +55,7 @@ protected:
    */
   std::vector<Z> measured_;
 
+  //SharedIsotropic noiseModel_;
   std::vector<SharedNoiseModel> noise_; ///< noise model used
 
   boost::optional<Pose3> body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras)