diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp
index 6e85ea504..4b7abdecd 100644
--- a/python/handwritten/exportgtsam.cpp
+++ b/python/handwritten/exportgtsam.cpp
@@ -53,6 +53,7 @@ void exportISAM2();
 // Slam
 void exportPriorFactors();
 void exportBetweenFactors();
+void exportGenericProjectionFactor();
 
 // Utils (or Python wrapper specific functions)
 void registerNumpyEigenConversions();
@@ -87,4 +88,5 @@ BOOST_PYTHON_MODULE(libgtsam_python){
 
   exportPriorFactors();
   exportBetweenFactors();
+  exportGenericProjectionFactor();
 }
\ No newline at end of file
diff --git a/python/handwritten/slam/GenericProjectionFactor.cpp b/python/handwritten/slam/GenericProjectionFactor.cpp
new file mode 100644
index 000000000..dd932ccd4
--- /dev/null
+++ b/python/handwritten/slam/GenericProjectionFactor.cpp
@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @brief wraps GenericProjectionFactor for several values to python
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+#include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
+#include "gtsam/slam/ProjectionFactor.h"
+#include "gtsam/geometry/Pose3.h"
+#include "gtsam/geometry/Point3.h"
+#include "gtsam/geometry/Cal3_S2.h"
+
+using namespace boost::python;
+using namespace gtsam;
+
+using namespace std;
+
+typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorCal3_S2;
+
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, GenericProjectionFactorCal3_S2::print, 0, 1)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, GenericProjectionFactorCal3_S2::equals, 1, 2)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(evaluateError_overloads, GenericProjectionFactorCal3_S2::evaluateError, 2, 4)
+
+void exportGenericProjectionFactor()
+{
+
+  class_<GenericProjectionFactorCal3_S2, bases<NonlinearFactor> >("GenericProjectionFactorCal3_S2", init<>())
+    .def(init<const Point2 &, SharedNoiseModel, Key, Key, const boost::shared_ptr<Cal3_S2> &, optional<Pose3> >())
+    .def(init<const Point2 &, SharedNoiseModel, Key, Key, const boost::shared_ptr<Cal3_S2> &, bool, bool, optional<Pose3> >())
+    .def("print", &GenericProjectionFactorCal3_S2::print, print_overloads(args("s")))
+    .def("equals", &GenericProjectionFactorCal3_S2::equals, equals_overloads(args("q","tol")))
+    .def("evaluate_error", &GenericProjectionFactorCal3_S2::evaluateError, evaluateError_overloads())
+    .def("measured", &GenericProjectionFactorCal3_S2::measured, return_value_policy<copy_const_reference>())
+    // TODO(Ellon): Find the right return policy when returning a 'const shared_ptr<...> &'
+    // .def("calibration", &GenericProjectionFactorCal3_S2::calibration, return_value_policy<copy_const_reference>())
+    .def("verbose_cheirality", &GenericProjectionFactorCal3_S2::verboseCheirality)
+    .def("throw_cheirality", &GenericProjectionFactorCal3_S2::throwCheirality)
+  ;
+
+}