diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 18df33f40..9cc910f1d 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -149,9 +149,6 @@ public:
   /// Project a point into the image and check depth
   std::pair<Point2, bool> projectSafe(const Point3& pw) const;
 
-  /// backproject a 2-dimensional point to a 3-dimensional point at given depth
-  static Point3 backproject_from_camera(const Point2& p, const double depth);
-
   /**
    * Project point into the image
    * Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION
@@ -163,6 +160,9 @@ public:
   Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose =
       boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const;
 
+  /// backproject a 2-dimensional point to a 3-dimensional point at given depth
+  static Point3 backproject_from_camera(const Point2& p, const double depth);
+
 private:
 
   /** Serialization function */
@@ -274,6 +274,11 @@ public:
       OptionalJacobian<2, 6> Dcamera = boost::none,
       OptionalJacobian<2, 3> Dpoint = boost::none) const;
 
+  /// backproject a 2-dimensional point to a 3-dimensional point at given depth
+  Point3 backproject(const Point2& pn, double depth) const {
+    return pose().transform_from(backproject_from_camera(pn, depth));
+  }
+
   /**
    * Calculate range to a landmark
    * @param point 3D location of landmark