diff --git a/gtsam.h b/gtsam.h
index ef5553220..dde44c074 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -641,7 +641,7 @@ class Cal3_S2Stereo {
 
   // Testable
   void print(string s) const;
-  bool equals(const gtsam::Cal3_S2Stereo& pose, double tol) const;
+  bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const;
 
   // Standard Interface
   double fx() const;
@@ -763,6 +763,34 @@ virtual class PinholeCamera : gtsam::Value {
   void serialize() const;
 };
 
+virtual class StereoCamera : gtsam::Value {
+  // Standard Constructors and Named Constructors
+  StereoCamera();
+  StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
+
+  // Testable
+  void print(string s) const;
+  bool equals(const gtsam::StereoCamera& camera, double tol) const;
+
+  // Standard Interface
+  gtsam::Pose3 pose() const;
+  double baseline() const;
+  gtsam::Cal3_S2Stereo* calibration() const;
+
+  // Manifold
+  gtsam::StereoCamera retract(const Vector& d) const;
+  Vector localCoordinates(const gtsam::StereoCamera& T2) const;
+  size_t dim() const;
+  static size_t Dim();
+
+  // Transformations and measurement functions
+  gtsam::StereoPoint2 project(const gtsam::Point3& point);
+  gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
 //*************************************************************************
 // inference
 //*************************************************************************