diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 18bd88b52..d313883d9 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -564,9 +564,6 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
 #endif
   };
 
-  /// std::vector of Rot3s, mainly for wrapper
-  using Rot3Vector = std::vector<Rot3, Eigen::aligned_allocator<Rot3> >;
-
   /**
    * [RQ] receives a 3 by 3 matrix and returns an upper triangular matrix R
    * and 3 rotation angles corresponding to the rotation matrix Q=Qz'*Qy'*Qx'
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 705892e60..31057ec4b 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -29,13 +29,6 @@ class BinaryMeasurement {
 typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3;
 typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3;
 
-class BinaryMeasurementsUnit3 {
-  BinaryMeasurementsUnit3();
-  size_t size() const;
-  gtsam::BinaryMeasurement<gtsam::Unit3> at(size_t idx) const;
-  void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3>& measurement);
-};
-
 #include <gtsam/sfm/ShonanAveraging.h>
 
 // TODO(frank): copy/pasta below until we have integer template paremeters in
@@ -178,15 +171,6 @@ class ShonanAveraging3 {
 
 #include <gtsam/sfm/MFAS.h>
 
-class KeyPairDoubleMap {
-  KeyPairDoubleMap();
-  KeyPairDoubleMap(const gtsam::KeyPairDoubleMap& other);
-
-  size_t size() const;
-  bool empty() const;
-  void clear();
-  size_t at(const pair<size_t, size_t>& keypair) const;
-};
 
 class MFAS {
   MFAS(const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index e044dd2c1..da06c0e26 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -268,24 +268,6 @@ void save2D(const gtsam::NonlinearFactorGraph& graph,
             const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
             string filename);
 
-// std::vector<gtsam::BetweenFactor<Pose2>::shared_ptr>
-// Ignored by pybind -> will be List[BetweenFactorPose2]
-class BetweenFactorPose2s {
-  BetweenFactorPose2s();
-  size_t size() const;
-  gtsam::BetweenFactor<gtsam::Pose2>* at(size_t i) const;
-  void push_back(const gtsam::BetweenFactor<gtsam::Pose2>* factor);
-};
-gtsam::BetweenFactorPose2s parse2DFactors(string filename);
-
-// std::vector<gtsam::BetweenFactor<Pose3>::shared_ptr>
-// Ignored by pybind -> will be List[BetweenFactorPose3]
-class BetweenFactorPose3s {
-  BetweenFactorPose3s();
-  size_t size() const;
-  gtsam::BetweenFactor<gtsam::Pose3>* at(size_t i) const;
-  void push_back(const gtsam::BetweenFactor<gtsam::Pose3>* factor);
-};
 gtsam::BetweenFactorPose3s parse3DFactors(string filename);
 
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
@@ -323,7 +305,7 @@ virtual class KarcherMeanFactor : gtsam::NonlinearFactor {
   KarcherMeanFactor(const gtsam::KeyVector& keys);
 };
 
-gtsam::Rot3 FindKarcherMean(const gtsam::Rot3Vector& rotations);
+gtsam::Rot3 FindKarcherMean(const std::vector<gtsam::Rot3>& rotations);
 
 #include <gtsam/slam/FrobeniusFactor.h>
 gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model,
diff --git a/python/gtsam/gtsam.tpl b/python/gtsam/gtsam.tpl
index bdeb2bccc..a974b246b 100644
--- a/python/gtsam/gtsam.tpl
+++ b/python/gtsam/gtsam.tpl
@@ -11,8 +11,8 @@
 {include_boost}
 
 #include <pybind11/eigen.h>
-#include <pybind11/stl.h>
 #include <pybind11/stl_bind.h>
+#include <pybind11/stl.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 #include <pybind11/functional.h>
diff --git a/python/gtsam/preamble/base.h b/python/gtsam/preamble/base.h
index 626b47ae4..a7effd1ca 100644
--- a/python/gtsam/preamble/base.h
+++ b/python/gtsam/preamble/base.h
@@ -12,5 +12,4 @@
  */
 
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
-
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Matrix>);  // JacobianVector
diff --git a/python/gtsam/preamble/slam.h b/python/gtsam/preamble/slam.h
index f7bf5863c..d07a75f6f 100644
--- a/python/gtsam/preamble/slam.h
+++ b/python/gtsam/preamble/slam.h
@@ -10,9 +10,3 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
-
-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(gtsam::Rot3Vector);
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 6de15217f..da8842eaf 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -10,7 +10,3 @@
  * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
  * and saves one copy operation.
  */
-
-py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
-    m_, "BinaryMeasurementsUnit3");
-py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
diff --git a/python/gtsam/specializations/slam.h b/python/gtsam/specializations/slam.h
index 6a439c370..da8842eaf 100644
--- a/python/gtsam/specializations/slam.h
+++ b/python/gtsam/specializations/slam.h
@@ -10,11 +10,3 @@
  * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
  * and saves one copy operation.
  */
-
-py::bind_vector<
-    std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3>>>>(
-    m_, "BetweenFactorPose3s");
-py::bind_vector<
-    std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2>>>>(
-    m_, "BetweenFactorPose2s");
-py::bind_vector<gtsam::Rot3Vector>(m_, "Rot3Vector");