diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 5334a233d..5307ef45d 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2759,30 +2759,15 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
 };
 
 #include <gtsam/slam/dataset.h>
-class SfmMeasurement{
-  SfmMeasurement();
-  size_t i() const;
-  Point2 j() const;
-};
-class SiftIndex{
-  SiftIndex();
-  size_t i() const;
-  size_t j() const;
- };
-class SfmMeasurements{
-  SfmMeasurements();
-
-};
 
 class SfmTrack {
   SfmTrack();
   Point3 point3() const;
   size_t number_measurements() const;
   void setP(gtsam::Point3& p_);
-  gtsam::SfmMeasurement measurement(size_t idx) const;
-  gtsam::SiftIndex siftIndex(size_t idx) const;
+  pair<size_t, gtsam::Point2> measurement(size_t idx) const;
+  pair<size_t, size_t> siftIndex(size_t idx) const;
   void add_measurement(const pair<size_t, gtsam::Point2>& m);
-  SfmMeasurements& measurements();
 };
 
 class SfmData {
@@ -2792,7 +2777,7 @@ class SfmData {
   gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
   gtsam::SfmTrack track(size_t idx) const;
   void add_track(const gtsam::SfmTrack& t) ;
-  void add_camera(const gtsam::SfmCamer& cam);
+  void add_camera(const gtsam::SfmCamera& cam);
 };
 
 gtsam::SfmData readBal(string filename);
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 062d8728c..1a01d8a38 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -228,7 +228,7 @@ struct SfmTrack {
     return measurements.size();
   }
   /// Set 3D point
-  void setP(Point3& p_){
+  void setP(const Point3& p_){
     p = p_;
   }
 
@@ -243,13 +243,10 @@ struct SfmTrack {
   Point3 point3() const {
     return p;
   }
-  void add_measurement(pair<size_t, gtsam::Point2>& m) const{
+  void add_measurement(const pair<size_t, gtsam::Point2>& m) {
     measurements.push_back(m);
   }
 
-  SfmMeasurements& measurements() {
-    return measurements;
-  }
 
 };
 
@@ -278,11 +275,11 @@ struct SfmData {
     return tracks[idx];
   }
 
-  void add_track(SfmTrack& t) const {
+  void add_track(const SfmTrack& t)  {
     tracks.push_back(t);
   }
 
-  void add_camera(SfmCamera& cam) const{
+  void add_camera(const SfmCamera& cam){
     cameras.push_back(cam);
   }
 };
diff --git a/python/gtsam/preamble.h b/python/gtsam/preamble.h
index 8525ed3a3..a8dfc5787 100644
--- a/python/gtsam/preamble.h
+++ b/python/gtsam/preamble.h
@@ -10,5 +10,5 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
 PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
 PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>);
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SiftIndex>);
\ No newline at end of file
+//PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>);
+//PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SiftIndex>);
\ No newline at end of file
diff --git a/python/gtsam/specializations.h b/python/gtsam/specializations.h
index 03e2b606c..2fd353b5f 100644
--- a/python/gtsam/specializations.h
+++ b/python/gtsam/specializations.h
@@ -13,5 +13,5 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "Bina
 py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
 py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
-py::bind_vector<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement");
-py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector");
\ No newline at end of file
+//py::bind_vector<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement");
+//py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector");
\ No newline at end of file