diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
new file mode 100644
index 000000000..5cc6ada24
--- /dev/null
+++ b/.github/scripts/python.sh
@@ -0,0 +1,94 @@
+#!/bin/bash
+
+##########################################################
+# Build and test the GTSAM Python wrapper.
+##########################################################
+
+set -x -e
+
+if [ -z ${PYTHON_VERSION+x} ]; then
+    echo "Please provide the Python version to build against!"
+    exit 127
+fi
+
+if [ -z ${WRAPPER+x} ]; then
+    echo "Please provide the wrapper to build!"
+    exit 126
+fi
+
+PYTHON="python${PYTHON_VERSION}"
+
+if [[ $(uname) == "Darwin" ]]; then
+    brew install wget
+else
+    # Install a system package required by our library
+    sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
+fi
+
+PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
+
+case $WRAPPER in
+"cython")
+    BUILD_CYTHON="ON"
+    BUILD_PYBIND="OFF"
+    TYPEDEF_POINTS_TO_VECTORS="OFF"
+
+    sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/cython/requirements.txt
+    ;;
+"pybind")
+    BUILD_CYTHON="OFF"
+    BUILD_PYBIND="ON"
+    TYPEDEF_POINTS_TO_VECTORS="ON"
+
+    sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
+    ;;
+*)
+    exit 126
+    ;;
+esac
+
+git submodule update --init --recursive
+
+mkdir $GITHUB_WORKSPACE/build
+cd $GITHUB_WORKSPACE/build
+
+cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
+    -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
+    -DGTSAM_USE_QUATERNIONS=OFF \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+    -DGTSAM_INSTALL_CYTHON_TOOLBOX=${BUILD_CYTHON} \
+    -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+    -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
+    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
+    -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+
+make -j$(nproc) install &
+
+while ps -p $! > /dev/null
+do
+  sleep 60
+  now=$(date +%s)
+  printf "%d seconds have elapsed\n" $(( (now - start) ))
+done
+
+case $WRAPPER in
+"cython")
+    cd $GITHUB_WORKSPACE/build/cython
+    $PYTHON setup.py install --user --prefix=
+    cd $GITHUB_WORKSPACE/build/cython/gtsam/tests
+    $PYTHON -m unittest discover
+    ;;
+"pybind")
+    cd $GITHUB_WORKSPACE/python
+    $PYTHON setup.py install --user --prefix=
+    cd $GITHUB_WORKSPACE/wrap/python/gtsam_py/tests
+    $PYTHON -m unittest discover
+    ;;
+*)
+    echo "THIS SHOULD NEVER HAPPEN!"
+    exit 125
+    ;;
+esac
\ No newline at end of file
diff --git a/.travis.sh b/.github/scripts/unix.sh
old mode 100755
new mode 100644
similarity index 73%
rename from .travis.sh
rename to .github/scripts/unix.sh
index 7777e9919..aa6e49650
--- a/.travis.sh
+++ b/.github/scripts/unix.sh
@@ -1,20 +1,25 @@
 #!/bin/bash
 
+##########################################################
+# Build and test GTSAM for *nix based systems.
+# Specifically Linux and macOS.
+##########################################################
+
 # install TBB with _debug.so files
 function install_tbb()
 {
   TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
-  TBB_VERSION=4.4.2
-  TBB_DIR=tbb44_20151115oss
+  TBB_VERSION=4.4.5
+  TBB_DIR=tbb44_20160526oss
   TBB_SAVEPATH="/tmp/tbb.tgz"
 
-  if [ "$TRAVIS_OS_NAME" == "linux" ]; then
+  if [ "$(uname)" == "Linux" ]; then
     OS_SHORT="lin"
     TBB_LIB_DIR="intel64/gcc4.4"
     SUDO="sudo"
 
-  elif [ "$TRAVIS_OS_NAME" == "osx" ]; then
-    OS_SHORT="lin"
+  elif [ "$(uname)" == "Darwin" ]; then
+    OS_SHORT="osx"
     TBB_LIB_DIR=""
     SUDO=""
 
@@ -25,7 +30,7 @@ function install_tbb()
 
   TBBROOT=/tmp/$TBB_DIR
   # Copy the needed files to the correct places.
-  # This works correctly for travis builds, instead of setting path variables.
+  # This works correctly for CI builds, instead of setting path variables.
   # This is what Homebrew does to install TBB on Macs
   $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
   $SUDO cp -R $TBBROOT/include/ /usr/local/include/
@@ -38,15 +43,15 @@ function configure()
   set -e   # Make sure any error makes the script to return an error code
   set -x   # echo
 
-  SOURCE_DIR=`pwd`
-  BUILD_DIR=build
+  SOURCE_DIR=$GITHUB_WORKSPACE
+  BUILD_DIR=$GITHUB_WORKSPACE/build
 
   #env
-  git clean -fd || true
+  git submodule update --init --recursive
   rm -fr $BUILD_DIR || true
   mkdir $BUILD_DIR && cd $BUILD_DIR
 
-  install_tbb
+  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
 
   if [ ! -z "$GCC_VERSION" ]; then
     export CC=gcc-$GCC_VERSION
@@ -63,7 +68,10 @@ function configure()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DCMAKE_VERBOSE_MAKEFILE=OFF
+      -DCMAKE_VERBOSE_MAKEFILE=ON \
+      -DBOOST_ROOT=$BOOST_ROOT \
+      -DBoost_NO_SYSTEM_PATHS=ON \
+      -DBoost_ARCHITECTURE=-x64
 }
 
 
@@ -71,7 +79,7 @@ function configure()
 function finish ()
 {
   # Print ccache stats
-  ccache -s
+  [ -x "$(command -v ccache)" ] && ccache -s
 
   cd $SOURCE_DIR
 }
@@ -111,4 +119,4 @@ case $1 in
   -t)
     test
     ;;
-esac
+esac
\ No newline at end of file
diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
new file mode 100644
index 000000000..911bec59c
--- /dev/null
+++ b/.github/workflows/build-linux.yml
@@ -0,0 +1,78 @@
+name: Linux CI
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
+          
+          echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)"
+          echo "::set-env name=LD_LIBRARY_PATH::$(echo $BOOST_ROOT_1_69_0/lib)"
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Check Boost version
+        if: runner.os == 'Linux'
+        run: |
+          echo "BOOST_ROOT = $BOOST_ROOT"
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .github/scripts/unix.sh -t
\ No newline at end of file
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
new file mode 100644
index 000000000..55d9071ef
--- /dev/null
+++ b/.github/workflows/build-macos.yml
@@ -0,0 +1,51 @@
+name: macOS CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .github/scripts/unix.sh -t
\ No newline at end of file
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
new file mode 100644
index 000000000..0b4a7f12f
--- /dev/null
+++ b/.github/workflows/build-python.yml
@@ -0,0 +1,95 @@
+name: Python CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      PYTHON_VERSION: ${{ matrix.python_version }}
+      WRAPPER: ${{ matrix.wrapper }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        python_version: [3]
+        wrapper: [cython]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .github/scripts/python.sh
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .github/scripts/python.sh
\ No newline at end of file
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
new file mode 100644
index 000000000..b3150a751
--- /dev/null
+++ b/.github/workflows/build-windows.yml
@@ -0,0 +1,75 @@
+name: Windows CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          windows-2016-cl,
+          windows-2019-cl,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: windows-2016-cl
+            os: windows-2016
+            compiler: cl
+
+          - name: windows-2019-cl
+            os: windows-2019
+            compiler: cl
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Windows)
+        if: runner.os == 'Windows'
+        shell: powershell
+        run: |
+          Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          scoop install ninja --global
+          if ("${{ matrix.compiler }}".StartsWith("clang")) {
+            scoop install llvm --global
+          }
+          if ("${{ matrix.compiler }}" -eq "gcc") {
+            # Chocolatey GCC is broken on the windows-2019 image.
+            # See: https://github.com/DaanDeMeyer/doctest/runs/231595515
+            # See: https://github.community/t5/GitHub-Actions/Something-is-wrong-with-the-chocolatey-installed-version-of-gcc/td-p/32413
+            scoop install gcc --global
+            echo "::set-env name=CC::gcc"
+            echo "::set-env name=CXX::g++"
+          } elseif ("${{ matrix.compiler }}" -eq "clang") {
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          } else {
+            echo "::set-env name=CC::${{ matrix.compiler }}"
+            echo "::set-env name=CXX::${{ matrix.compiler }}"
+          }
+          # Scoop modifies the PATH so we make the modified PATH global.
+          echo "::set-env name=PATH::$env:PATH"
+      - name: Build (Windows)
+        if: runner.os == 'Windows'
+        run: |
+          cmake -E remove_directory build
+          echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
+          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target wrap
+          cmake --build build --config ${{ matrix.build_type }} --target check.base
+          cmake --build build --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target check.linear
\ No newline at end of file
diff --git a/.github/workflows/trigger-python.yml b/.github/workflows/trigger-python.yml
index 8fad9e7ca..94527e732 100644
--- a/.github/workflows/trigger-python.yml
+++ b/.github/workflows/trigger-python.yml
@@ -1,6 +1,9 @@
 # This triggers Cython builds on `gtsam-manylinux-build`
 name: Trigger Python Builds
-on: push
+on:
+  push:
+    branches:
+      - develop
 jobs:
   triggerCython:
     runs-on: ubuntu-latest
diff --git a/.travis.python.sh b/.travis.python.sh
deleted file mode 100644
index 99506e749..000000000
--- a/.travis.python.sh
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/bin/bash
-set -x -e
-
-if [ -z ${PYTHON_VERSION+x} ]; then
-    echo "Please provide the Python version to build against!"
-    exit 127
-fi
-
-PYTHON="python${PYTHON_VERSION}"
-
-if [[ $(uname) == "Darwin" ]]; then
-    brew install wget
-else
-    # Install a system package required by our library
-    sudo apt-get install wget libicu-dev python3-pip python3-setuptools
-fi
-
-CURRDIR=$(pwd)
-
-sudo $PYTHON -m pip install -r ./cython/requirements.txt
-
-mkdir $CURRDIR/build
-cd $CURRDIR/build
-
-cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \
-    -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
-    -DGTSAM_USE_QUATERNIONS=OFF \
-    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-    -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \
-    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
-    -DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install
-
-make -j$(nproc) install
-
-cd cython
-
-sudo $PYTHON setup.py install
-
-cd $CURRDIR/cython/gtsam/tests
-
-$PYTHON -m unittest discover
\ No newline at end of file
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index d6c6cb156..000000000
--- a/.travis.yml
+++ /dev/null
@@ -1,140 +0,0 @@
-language: cpp
-cache: ccache
-dist: xenial
-
-addons:
-  apt:
-    sources:
-    - ubuntu-toolchain-r-test
-    - sourceline: 'deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-9 main'
-      key_url: 'https://apt.llvm.org/llvm-snapshot.gpg.key'
-    packages:
-    - g++-9
-    - clang-9
-    - build-essential pkg-config
-    - cmake
-    - python3-dev libpython-dev
-    - python3-numpy
-    - libboost-all-dev
-
-# before_install:
-  # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi
-
-install:
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
-
-# We first do the compile stage specified below, then the matrix expansion specified after.
-stages:
-  - compile
-  - test
-  - special
-
-env:
-  global:
-    - MAKEFLAGS="-j3"
-    - CCACHE_SLOPPINESS=pch_defines,time_macros
-
-# Compile stage without building examples/tests to populate the caches.
-jobs:
-# -------- STAGE 1: COMPILE -----------
-  include:
-# on Mac, GCC
-  - stage: compile
-    os: osx
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: osx
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Mac, CLANG
-  - stage: compile
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, GCC
-  - stage: compile
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, CLANG
-  - stage: compile
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, with deprecated ON to make sure that path still compiles/tests
-  - stage: special
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON
-    script: bash .travis.sh -b
-# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
-  # - stage: special
-  #   os: linux
-  #   compiler: gcc
-  #   env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
-  #   script: bash .travis.sh -t
-# -------- STAGE 2: TESTS -----------
-# on Mac, GCC
-  - stage: test
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-  - stage: test
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-  # - stage: test
-  #   os: linux
-  #   compiler: gcc
-  #   env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-  #   script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-# on Linux, with quaternions ON to make sure that path still compiles/tests
-  - stage: special
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release GTSAM_BUILD_UNSTABLE=OFF GTSAM_USE_QUATERNIONS=ON
-    script: bash .travis.sh -t
-  - stage: special
-    os: linux
-    compiler: gcc
-    env: PYTHON_VERSION=3
-    script: bash .travis.python.sh
-  - stage: special
-    os: osx
-    compiler: clang
-    env: PYTHON_VERSION=3
-    script: bash .travis.python.sh
diff --git a/appveyor.yml b/appveyor.yml
deleted file mode 100644
index 3747354cf..000000000
--- a/appveyor.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-# version format
-version: 4.0.3-{branch}-build{build}
-
-os: Visual Studio 2019
-
-clone_folder: c:\projects\gtsam
-
-platform: x64
-configuration: Release
-
-environment:
-  CTEST_OUTPUT_ON_FAILURE: 1
-  BOOST_ROOT: C:/Libraries/boost_1_71_0
-
-build_script:
-  - cd c:\projects\gtsam\build
-  # As of Dec 2019, not all unit tests build cleanly for MSVC, so we'll just
-  # check that parts of GTSAM build correctly:
-  #- cmake --build .
-  - cmake --build . --config Release --target gtsam
-  - cmake --build . --config Release --target gtsam_unstable
-  - cmake --build . --config Release --target wrap
-  #- cmake --build . --target check
-  - cmake --build . --config Release --target check.base
-  - cmake --build . --config Release --target check.base_unstable
-  - cmake --build . --config Release --target check.linear
-
-before_build:
-  - cd c:\projects\gtsam
-  - mkdir build
-  - cd build
-  # Disable examples to avoid AppVeyor timeout
-  - cmake -G "Visual Studio 16 2019"  .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF
diff --git a/cython/gtsam/utils/visual_data_generator.py b/cython/gtsam/utils/visual_data_generator.py
index f04588e70..5ce72fe68 100644
--- a/cython/gtsam/utils/visual_data_generator.py
+++ b/cython/gtsam/utils/visual_data_generator.py
@@ -30,8 +30,8 @@ class GroundTruth:
 
     def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4):
         self.K = K
-        self.cameras = [Pose3()] * nrCameras
-        self.points = [Point3()] * nrPoints
+        self.cameras = [gtsam.Pose3()] * nrCameras
+        self.points = [gtsam.Point3(0, 0, 0)] * nrPoints
 
     def print_(self, s=""):
         print(s)
@@ -99,11 +99,11 @@ def generate_data(options):
     r = 40
     for i in range(options.nrCameras):
         theta = i * 2 * np.pi / options.nrCameras
-        t = Point3(r * np.cos(theta), r * np.sin(theta), height)
-        truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t,
-                                                       Point3(),
-                                                       Point3(0, 0, 1),
-                                                       truth.K)
+        t = gtsam.Point3(r * np.cos(theta), r * np.sin(theta), height)
+        truth.cameras[i] = gtsam.SimpleCamera.Lookat(t,
+                                                     gtsam.Point3(0, 0, 0),
+                                                     gtsam.Point3(0, 0, 1),
+                                                     truth.K)
         # Create measurements
         for j in range(nrPoints):
             # All landmarks seen in every frame
diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index dc205b47f..0e928765f 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -30,6 +30,14 @@
 #include <iostream>
 #include <typeinfo> // operator typeid
 
+#ifdef _WIN32
+#define GENERICVALUE_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define GENERICVALUE_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {
 
 /**
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 9afc2f72b..a594e95d5 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -21,6 +21,14 @@
 #include <gtsam/base/Lie.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 
+#ifdef _WIN32
+#define BETWEENFACTOR_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define BETWEENFACTOR_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {
 
   /**