diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index c0bf66f37..5b173cb85 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -20,8 +20,8 @@ virtual class gtsam::NonlinearFactor;
 virtual class gtsam::GaussianFactor;
 virtual class gtsam::HessianFactor;
 virtual class gtsam::JacobianFactor;
-virtual class gtsam::SmartFactorBase;
-virtual class gtsam::SmartProjectionFactor;
+virtual class gtsam::SharedNoiseModel;
+virtual class gtsam::Cal3_S2;
 class gtsam::GaussianFactorGraph;
 class gtsam::NonlinearFactorGraph;
 class gtsam::Ordering;
@@ -378,39 +378,23 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
 
 };
 
-#include <gtsam_unstable/slam/SmartFactorBase.h>
-template<POSE, CALIBRATION, D>
-virtual class SmartFactorBase : gtsam::NonlinearFactor {
-	SmartFactorBase(const POSE& body_P_sensor);
-
-	void add(const Point2& measured_i, const Key& poseKey_i,
-	      const SharedNoiseModel& noise_i);
-
-	void serialize() const;
-};
-
-#include <gtsam_unstable/slam/SmartProjectionFactor.h>
-template<POSE, LANDMARK, CALIBRATION, D>
-virtual class SmartProjectionFactor : gtsam::SmartFactorBase {
-	SmartProjectionFactor(double rankTol, double linThreshold,
-		bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
-
-	void serialize() const;
-};
-
 #include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
-template<POSE = {gtsam::Pose3},LANDMARK = {gtsam::Point3},CALIBRATION = {gtsam::Cal3_S2}>
-virtual class SmartProjectionPoseFactor : gtsam::SmartProjectionFactor {
+template<POSE, LANDMARK, CALIBRATION>
+virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor {
 
-  //SmartProjectionPoseFactor(double rankTol, double linThreshold, bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
-  SmartProjectionPoseFactor();
+  SmartProjectionPoseFactor(double rankTol, double linThreshold,
+      bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
+  //SmartProjectionPoseFactor();
 
-  //void add(gtsam::Point2 measured_i, size_t poseKey_i, gtsam::SharedNoiseModel noise_i, CALIBRATION* K_i);
+  void add(const gtsam::Point2 measured_i, const gtsam::Key poseKey_i, const gtsam::SharedNoiseModel noise_i,
+	  const CALIBRATION* K_i);
 
   // enabling serialization functionality
-  void serialize() const;
+  //void serialize() const;
 };
 
+typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> SmartProjectionPose3Factor;
+
 #include <gtsam/slam/RangeFactor.h>
 template<POSE, POINT>
 virtual class RangeFactor : gtsam::NonlinearFactor {