diff --git a/cmake/HandleUninstall.cmake b/cmake/HandleUninstall.cmake
index 1859b0273..dccb1905e 100644
--- a/cmake/HandleUninstall.cmake
+++ b/cmake/HandleUninstall.cmake
@@ -6,5 +6,11 @@ configure_file(
   "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
   IMMEDIATE @ONLY)
 
-add_custom_target(uninstall
-  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+if (NOT TARGET uninstall) # avoid duplicating this target
+  add_custom_target(uninstall
+    "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+else()
+    add_custom_target(uninstall_gtsam
+      "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+    add_dependencies(uninstall uninstall_gtsam)
+endif()
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index b8cc15af2..4269ab188 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -105,6 +105,9 @@
  *          virtual class MyFactor : gtsam::NoiseModelFactor {...};
  *    - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class
  *        - This will cause an ambiguity problem in Pybind header file
+ *   Pickle support in Python:
+ *    - Add "void pickle()" to a class to enable pickling via gtwrap. In the current implementation, "void serialize()"
+ *      and a public constructor with no-arguments in needed for successful build.
  */
 
 /**
@@ -144,6 +147,9 @@ class KeyList {
   void remove(size_t key);
 
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 // Actually a FastSet<Key>
@@ -169,6 +175,9 @@ class KeySet {
   bool count(size_t key) const; // returns true if value exists
 
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 // Actually a vector<Key>
@@ -190,6 +199,9 @@ class KeyVector {
   void push_back(size_t key) const;
 
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 // Actually a FastMap<Key,int>
@@ -361,6 +373,9 @@ class Point2 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 // std::vector<gtsam::Point2>
@@ -422,6 +437,9 @@ class StereoPoint2 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Point3.h>
@@ -446,6 +464,9 @@ class Point3 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Rot2.h>
@@ -491,6 +512,9 @@ class Rot2 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/SO3.h>
@@ -653,6 +677,9 @@ class Rot3 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Pose2.h>
@@ -708,6 +735,9 @@ class Pose2 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Pose3.h>
@@ -764,6 +794,9 @@ class Pose3 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 // std::vector<gtsam::Pose3>
@@ -797,6 +830,15 @@ class Unit3 {
   size_t dim() const;
   gtsam::Unit3 retract(Vector v) const;
   Vector localCoordinates(const gtsam::Unit3& s) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
+
+  // enabling function to compare objects
+  bool equals(const gtsam::Unit3& expected, double tol) const;
 };
 
 #include <gtsam/geometry/EssentialMatrix.h>
@@ -856,6 +898,9 @@ class Cal3_S2 {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Cal3DS2_Base.h>
@@ -884,6 +929,9 @@ virtual class Cal3DS2_Base {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Cal3DS2.h>
@@ -905,6 +953,9 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Cal3Unified.h>
@@ -931,6 +982,9 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/Cal3_S2Stereo.h>
@@ -988,6 +1042,9 @@ class Cal3Bundler {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/CalibratedCamera.h>
@@ -1018,6 +1075,9 @@ class CalibratedCamera {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/PinholeCamera.h>
@@ -1056,6 +1116,9 @@ class PinholeCamera {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 // Forward declaration of PinholeCameraCalX is defined here.
@@ -1103,6 +1166,9 @@ class StereoCamera {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/geometry/triangulation.h>
@@ -1557,6 +1623,9 @@ class VectorValues {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/linear/GaussianFactor.h>
@@ -1618,6 +1687,9 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/linear/HessianFactor.h>
@@ -1649,6 +1721,9 @@ virtual class HessianFactor : gtsam::GaussianFactor {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/linear/GaussianFactorGraph.h>
@@ -1728,6 +1803,9 @@ class GaussianFactorGraph {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/linear/GaussianConditional.h>
@@ -2035,6 +2113,9 @@ class Ordering {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@@ -2073,6 +2154,10 @@ class NonlinearFactorGraph {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
+
   void saveGraph(const string& s) const;
 };
 
@@ -2130,6 +2215,9 @@ class Values {
   // enabling serialization functionality
   void serialize() const;
 
+  // enable pickling in python
+  void pickle() const;
+
   // New in 4.0, we have to specialize every insert/update/at to generate wrappers
   // Instead of the old:
   // void insert(size_t j, const gtsam::Value& value);
@@ -2529,6 +2617,9 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 
@@ -2540,6 +2631,9 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/nonlinear/NonlinearEquality.h>
@@ -2776,6 +2870,9 @@ class SfmTrack {
   // enabling serialization functionality
   void serialize() const;
 
+  // enable pickling in python
+  void pickle() const;
+
   // enabling function to compare objects
   bool equals(const gtsam::SfmTrack& expected, double tol) const;
 };
@@ -2792,6 +2889,9 @@ class SfmData {
   // enabling serialization functionality
   void serialize() const;
 
+  // enable pickling in python
+  void pickle() const;
+
   // enabling function to compare objects
   bool equals(const gtsam::SfmData& expected, double tol) const;
 };
diff --git a/python/gtsam/tests/test_pickle.py b/python/gtsam/tests/test_pickle.py
new file mode 100644
index 000000000..0acbf6765
--- /dev/null
+++ b/python/gtsam/tests/test_pickle.py
@@ -0,0 +1,46 @@
+"""
+GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Unit tests to check pickling.
+
+Author: Ayush Baid
+"""
+from gtsam import Cal3Bundler, PinholeCameraCal3Bundler, Point2, Point3, Pose3, Rot3, SfmTrack, Unit3 
+
+from gtsam.utils.test_case import GtsamTestCase
+
+class TestPickle(GtsamTestCase):
+    """Tests pickling on some of the classes."""
+
+    def test_cal3Bundler_roundtrip(self):
+        obj = Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70)
+        self.assertEqualityOnPickleRoundtrip(obj)
+    
+    def test_pinholeCameraCal3Bundler_roundtrip(self):
+        obj = PinholeCameraCal3Bundler(
+            Pose3(Rot3.RzRyRx(0, 0.1, -0.05), Point3(1, 1, 0)),
+            Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70),
+        )
+        self.assertEqualityOnPickleRoundtrip(obj)
+    
+    def test_rot3_roundtrip(self):
+        obj = Rot3.RzRyRx(0, 0.05, 0.1)
+        self.assertEqualityOnPickleRoundtrip(obj)
+
+    def test_pose3_roundtrip(self):
+        obj = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
+        self.assertEqualityOnPickleRoundtrip(obj)
+
+    def test_sfmTrack_roundtrip(self):
+        obj = SfmTrack(Point3(1, 1, 0))
+        obj.add_measurement(0, Point2(-1, 5))
+        obj.add_measurement(1, Point2(6, 2))
+        self.assertEqualityOnPickleRoundtrip(obj)
+
+    def test_unit3_roundtrip(self):
+        obj = Unit3(Point3(1, 1, 0))
+        self.assertEqualityOnPickleRoundtrip(obj)
diff --git a/python/gtsam/utils/test_case.py b/python/gtsam/utils/test_case.py
index 3effd7f65..50af004f4 100644
--- a/python/gtsam/utils/test_case.py
+++ b/python/gtsam/utils/test_case.py
@@ -8,6 +8,7 @@ See LICENSE for the license information
 TestCase class with GTSAM assert utils.
 Author: Frank Dellaert
 """
+import pickle
 import unittest
 
 
@@ -29,3 +30,14 @@ class GtsamTestCase(unittest.TestCase):
         if not equal:
             raise self.failureException(
                 "Values are not equal:\n{}!={}".format(actual, expected))
+
+    def assertEqualityOnPickleRoundtrip(self, obj: object, tol=1e-9) -> None:
+        """ Performs a round-trip using pickle and asserts equality.
+
+            Usage:
+                self.assertEqualityOnPickleRoundtrip(obj)
+            Keyword Arguments:
+                tol {float} -- tolerance passed to 'equals', default 1e-9
+        """
+        roundTripObj = pickle.loads(pickle.dumps(obj))
+        self.gtsamAssertEquals(roundTripObj, obj)