diff --git a/gtsam/geometry/SimpleCamera.cpp b/gtsam/geometry/SimpleCamera.cpp
index 6134ae3d4..d1a5ed330 100644
--- a/gtsam/geometry/SimpleCamera.cpp
+++ b/gtsam/geometry/SimpleCamera.cpp
@@ -21,6 +21,7 @@
 
 namespace gtsam {
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
   SimpleCamera simpleCamera(const Matrix34& P) {
 
     // P = [A|a] = s K cRw [I|-T], with s the unknown scale
@@ -45,5 +46,6 @@ namespace gtsam {
     return SimpleCamera(Pose3(wRc, T),
         Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2)));
   }
+#endif
 
 }
diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h
index 82f26aee2..04746ba6f 100644
--- a/gtsam/geometry/SimpleCamera.h
+++ b/gtsam/geometry/SimpleCamera.h
@@ -19,14 +19,23 @@
 #pragma once
 
 #include <gtsam/geometry/BearingRange.h>
-#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/geometry/Cal3DS2.h>
+#include <gtsam/geometry/Cal3Unified.h>
 #include <gtsam/geometry/Cal3_S2.h>
+#include <gtsam/geometry/PinholeCamera.h>
 
 namespace gtsam {
 
-  /// A simple camera class with a Cal3_S2 calibration
-typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
+  /// Convenient aliases for Pinhole camera classes with different calibrations.
+  /// Also needed as forward declarations in the wrapper.
+  using PinholeCameraCal3_S2 = gtsam::PinholeCamera<gtsam::Cal3_S2>;
+  using PinholeCameraCal3Bundler = gtsam::PinholeCamera<gtsam::Cal3Bundler>;
+  //TODO Need to fix issue 621 for this to work with wrapper
+  // using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>;
+  // using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
 /**
  * @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
  * Use PinholeCameraCal3_S2 instead
@@ -140,4 +149,6 @@ struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {};
 template <typename T>
 struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {};
 
+#endif
+
 }  // namespace gtsam
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 1b4d976da..eb36e73a3 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -329,7 +329,7 @@ virtual class Value {
 };
 
 #include <gtsam/base/GenericValue.h>
-template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
+template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::imuBias::ConstantBias}>
 virtual class GenericValue : gtsam::Value {
   void serializable() const;
 };
@@ -1059,52 +1059,12 @@ class PinholeCamera {
   void serialize() const;
 };
 
+// Forward declaration of PinholeCameraCalX is defined here.
 #include <gtsam/geometry/SimpleCamera.h>
-virtual class SimpleCamera {
-  // Standard Constructors and Named Constructors
-  SimpleCamera();
-  SimpleCamera(const gtsam::Pose3& pose);
-  SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
-  static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K, const gtsam::Pose2& pose, double height);
-  static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
-  static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
-      const gtsam::Point3& upVector, const gtsam::Cal3_S2& K);
-  static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
-      const gtsam::Point3& upVector);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::SimpleCamera& camera, double tol) const;
-
-  // Standard Interface
-  gtsam::Pose3 pose() const;
-  gtsam::Cal3_S2 calibration() const;
-
-  // Manifold
-  gtsam::SimpleCamera retract(Vector d) const;
-  Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
-  size_t dim() const;
-  static size_t Dim();
-
-  // Transformations and measurement functions
-  static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
-  pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
-  gtsam::Point2 project(const gtsam::Point3& point);
-  gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
-  double range(const gtsam::Point3& point);
-  double range(const gtsam::Pose3& pose);
-
-  // enabling serialization functionality
-  void serialize() const;
-
-};
-
-gtsam::SimpleCamera simpleCamera(const Matrix& P);
-
 // Some typedefs for common camera types
 // PinholeCameraCal3_S2 is the same as SimpleCamera above
 typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
-//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
+//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
 //typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
 //typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
 typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
@@ -1150,7 +1110,7 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
 gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
     gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements,
     double rank_tol, bool optimize);
-
+    
 //*************************************************************************
 // Symbolic
 //*************************************************************************
@@ -2069,7 +2029,7 @@ class NonlinearFactorGraph {
   gtsam::KeySet keys() const;
   gtsam::KeyVector keyVector() const;
 
-  template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
+  template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
   void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
 
   // NonlinearFactorGraph
@@ -2493,7 +2453,7 @@ class ISAM2 {
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
                      gtsam::Cal3Bundler, gtsam::EssentialMatrix,
-                     gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, 
+                     gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, 
                      Vector, Matrix}>
   VALUE calculateEstimate(size_t key) const;
   gtsam::Values calculateBestEstimate() const;
@@ -2527,12 +2487,11 @@ class NonlinearISAM {
 //*************************************************************************
 // Nonlinear factor types
 //*************************************************************************
-#include <gtsam/geometry/SimpleCamera.h>
 #include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/nonlinear/PriorFactor.h>
-template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
+template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;
@@ -2556,7 +2515,7 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
 template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
                gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2,
                gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
-               gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2,
+               gtsam::PinholeCameraCal3_S2,
                gtsam::imuBias::ConstantBias}>
 virtual class NonlinearEquality : gtsam::NoiseModelFactor {
   // Constructor - forces exact evaluation
@@ -2675,7 +2634,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
   gtsam::Point2 measured() const;
 };
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
-//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
+//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
 //typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;