diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp
index ce332ed0b..ce8e9c079 100644
--- a/gtsam/sfm/TranslationRecovery.cpp
+++ b/gtsam/sfm/TranslationRecovery.cpp
@@ -84,7 +84,7 @@ NonlinearFactorGraph TranslationRecovery::buildGraph() const {
 
 void TranslationRecovery::addPrior(
     const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
-    const double scale, const boost::shared_ptr<NonlinearFactorGraph> graph,
+    const double scale, NonlinearFactorGraph *graph,
     const SharedNoiseModel &priorNoiseModel) const {
   auto edge = relativeTranslations_.begin();
   if (edge == relativeTranslations_.end()) return;
@@ -122,11 +122,10 @@ Values TranslationRecovery::initializeRandomly(std::mt19937 *rng) const {
   // Create a lambda expression that checks whether value exists and randomly
   // initializes if not.
   Values initial;
-  const Values inputInitial = params_.getInitialValues();
   auto insert = [&](Key j) {
     if (initial.exists(j)) return;
-    if (inputInitial.exists(j)) {
-      initial.insert<Point3>(j, inputInitial.at<Point3>(j));
+    if (params_.initial.exists(j)) {
+      initial.insert<Point3>(j, params_.initial.at<Point3>(j));
     } else {
       initial.insert<Point3>(
           j, Point3(randomVal(*rng), randomVal(*rng), randomVal(*rng)));
@@ -158,11 +157,10 @@ Values TranslationRecovery::initializeRandomly() const {
 Values TranslationRecovery::run(
     const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
     const double scale) const {
-  boost::shared_ptr<NonlinearFactorGraph> graph_ptr =
-      boost::make_shared<NonlinearFactorGraph>(buildGraph());
-  addPrior(betweenTranslations, scale, graph_ptr);
+  NonlinearFactorGraph graph = buildGraph();
+  addPrior(betweenTranslations, scale, &graph);
   const Values initial = initializeRandomly();
-  LevenbergMarquardtOptimizer lm(*graph_ptr, initial, params_.getLMParams());
+  LevenbergMarquardtOptimizer lm(graph, initial, params_.lmParams);
   Values result = lm.optimize();
   return addSameTranslationNodes(result);
 }
diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index 33de91bf1..0b25ad7b4 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -29,24 +29,12 @@
 namespace gtsam {
 
 // Parameters for the Translation Recovery problem.
-class TranslationRecoveryParams {
- public:
-  LevenbergMarquardtParams getLMParams() const { return lmParams_; }
-
-  Values getInitialValues() const { return initial_; }
-
-  void setInitialValues(const Values &values) { initial_ = values; }
-
-  void setLMParams(const LevenbergMarquardtParams &lmParams) {
-    lmParams_ = lmParams;
-  }
-
- private:
+struct TranslationRecoveryParams {
   // LevenbergMarquardtParams for optimization.
-  LevenbergMarquardtParams lmParams_;
+  LevenbergMarquardtParams lmParams;
 
   // Initial values, random intialization will be used if not provided.
-  Values initial_;
+  Values initial;
 };
 
 // Set up an optimization problem for the unknown translations Ti in the world
@@ -114,7 +102,7 @@ class TranslationRecovery {
    */
   void addPrior(
       const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
-      const double scale, const boost::shared_ptr<NonlinearFactorGraph> graph,
+      const double scale, NonlinearFactorGraph *graph,
       const SharedNoiseModel &priorNoiseModel =
           noiseModel::Isotropic::Sigma(3, 0.01)) const;
 
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 064bc1e63..66280037c 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -263,11 +263,8 @@ class MFAS {
 
 #include <gtsam/sfm/TranslationRecovery.h>
 class TranslationRecoveryParams {
-  gtsam::Values getInitialValues() const;
-  gtsam::LevenbergMarquardtParams getLMParams() const;
-
-  void setInitialValues(const gtsam::Values& values);
-  void setLMParams(const gtsam::LevenbergMarquardtParams& lmParams);
+  gtsam::LevenbergMarquardtParams lmParams;
+  gtsam::Values initial;
 };
 
 class TranslationRecovery {
@@ -279,7 +276,7 @@ class TranslationRecovery {
   gtsam::Values run(const gtsam::BinaryMeasurementsPoint3& betweenTranslations,
                     const double scale) const;
   // default empty betweenTranslations
-  gtsam::Values run(const double scale) const;
+  // gtsam::Values run(const double scale) const;
   gtsam::Values run() const;  // default scale = 1.0
 };