diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 6665a532e..2a513322d 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -1106,7 +1106,7 @@ typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
 //TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
 //typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
 //typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
-typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> SfmCamera;
+typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
 
 #include <gtsam/geometry/StereoCamera.h>
 class StereoCamera {
@@ -2068,7 +2068,7 @@ class NonlinearFactorGraph {
   gtsam::KeySet keys() const;
   gtsam::KeyVector keyVector() const;
 
-  template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::SfmCamera, gtsam::imuBias::ConstantBias}>
+  template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
   void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
 
   // NonlinearFactorGraph
@@ -2162,7 +2162,7 @@ class Values {
   void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
   void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
-  void insert(size_t j, const gtsam::SfmCamera& camera);
+  void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void insert(size_t j, const gtsam::NavState& nav_state);
 
@@ -2180,13 +2180,13 @@ class Values {
   void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
   void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
   void update(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
-  void update(size_t j, const gtsam::SfmCamera& camera);
+  void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void update(size_t j, const gtsam::NavState& nav_state);
   void update(size_t j, Vector vector);
   void update(size_t j, Matrix matrix);
 
-  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::SfmCamera, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
+  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
   T at(size_t j);
 
   /// version for double
@@ -2490,7 +2490,7 @@ class ISAM2 {
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
                      gtsam::Cal3Bundler, gtsam::EssentialMatrix,
-                     gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::SfmCamera, 
+                     gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, 
                      Vector, Matrix}>
   VALUE calculateEstimate(size_t key) const;
   gtsam::Values calculateBestEstimate() const;
@@ -2529,7 +2529,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/nonlinear/PriorFactor.h>
-template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::SfmCamera}>
+template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;
@@ -2674,8 +2674,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
 //TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
 //typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
-typedef gtsam::GeneralSFMFactor<gtsam::SfmCamera, gtsam::Point3> GeneralSFMFactorSfmCamera;
-
+typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
 
 template<CALIBRATION = {gtsam::Cal3_S2}>
 virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
diff --git a/python/gtsam/examples/SFMExample_bal.py b/python/gtsam/examples/SFMExample_bal.py
index 169cf9f3c..a027dac89 100644
--- a/python/gtsam/examples/SFMExample_bal.py
+++ b/python/gtsam/examples/SFMExample_bal.py
@@ -19,9 +19,9 @@ import numpy as np
 
 import gtsam
 from gtsam import (
-    GeneralSFMFactorSfmCamera,
-    SfmCamera,
-    PriorFactorSfmCamera,
+    GeneralSFMFactorCal3Bundler,
+    PinholeCameraCal3Bundler,
+    PriorFactorPinholeCameraCal3Bundler,
     readBal,
     symbol_shorthand
 )
@@ -32,10 +32,6 @@ P = symbol_shorthand.P
 
 logging.basicConfig(stream=sys.stdout, level=logging.DEBUG)
 
-# We will be using a projection factor that ties a SFM_Camera to a 3D point.
-# An SfmCamera is defined in dataset.h as a pinhole camera with unknown Cal3Bundler calibration
-# and has a total of 9 free parameters
-
 def run(args):
     """ Run LM optimization with BAL input data and report resulting error """
     # Find default file, but if an argument is given, try loading a file
@@ -63,13 +59,13 @@ def run(args):
             # i represents the camera index, and uv is the 2d measurement
             i, uv = track.measurement(m_idx)
             # note use of shorthand symbols C and P
-            graph.add(GeneralSFMFactorSfmCamera(uv, noise, C(i), P(j)))
+            graph.add(GeneralSFMFactorCal3Bundler(uv, noise, C(i), P(j)))
         j += 1
 
     # # Add a prior on pose x1. This indirectly specifies where the origin is.
     # # and a prior on the position of the first landmark to fix the scale
     graph.push_back(
-        gtsam.PriorFactorSfmCamera(
+        gtsam.PriorFactorPinholeCameraCal3Bundler(
             C(0), mydata.camera(0), gtsam.noiseModel.Isotropic.Sigma(9, 0.1)
         )
     )
@@ -83,7 +79,7 @@ def run(args):
     initial = gtsam.Values()
     
     i = 0
-    # add each SfmCamera
+    # add each PinholeCameraCal3Bundler
     for cam_idx in range(mydata.number_cameras()):
         camera = mydata.camera(cam_idx)
         initial.insert(C(i), camera)