diff --git a/gtsam/geometry/TriangulationFactor.h b/gtsam/geometry/TriangulationFactor.h
index 24b7918e3..fc8d546d3 100644
--- a/gtsam/geometry/TriangulationFactor.h
+++ b/gtsam/geometry/TriangulationFactor.h
@@ -115,7 +115,7 @@ public:
   Vector evaluateError(const Point3& point, boost::optional<Matrix&> H2 =
       boost::none) const {
     try {
-      Point2 error(camera_.project(point, boost::none, H2) - measured_);
+      Point2 error(camera_.project(point, boost::none, H2, boost::none) - measured_);
       return error.vector();
     } catch (CheiralityException& e) {
       if (H2)
@@ -155,7 +155,7 @@ public:
 
     // Would be even better if we could pass blocks to project
     const Point3& point = x.at<Point3>(key());
-    b = -(camera_.project(point, boost::none, A) - measured_).vector();
+    b = -(camera_.project(point, boost::none, A, boost::none) - measured_).vector();
     if (noiseModel_)
       this->noiseModel_->WhitenSystem(A, b);
 
diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp
index 9ced28dca..366d09d49 100644
--- a/gtsam/geometry/tests/testSimpleCamera.cpp
+++ b/gtsam/geometry/tests/testSimpleCamera.cpp
@@ -125,7 +125,7 @@ static Point2 project2(const Pose3& pose, const Point3& point) {
 TEST( SimpleCamera, Dproject_point_pose)
 {
   Matrix Dpose, Dpoint;
-  Point2 result = camera.project(point1, Dpose, Dpoint);
+  Point2 result = camera.project(point1, Dpose, Dpoint, boost::none);
   Matrix numerical_pose  = numericalDerivative21(project2, pose1, point1);
   Matrix numerical_point = numericalDerivative22(project2, pose1, point1);
   CHECK(assert_equal(result, Point2(-100,  100) ));
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 3e093c7c4..db37e6b8d 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -132,17 +132,17 @@ namespace gtsam {
           if(H1) {
             gtsam::Matrix H0;
             PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_, H0), *K_);
-            Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
+            Point2 reprojectionError(camera.project(point, H1, H2, boost::none) - measured_);
             *H1 = *H1 * H0;
             return reprojectionError.vector();
           } else {
             PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_), *K_);
-            Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
+            Point2 reprojectionError(camera.project(point, H1, H2, boost::none) - measured_);
             return reprojectionError.vector();
           }
         } else {
           PinholeCamera<CALIBRATION> camera(pose, *K_);
-          Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
+          Point2 reprojectionError(camera.project(point, H1, H2, boost::none) - measured_);
           return reprojectionError.vector();
         }
       } catch( CheiralityException& e) {
diff --git a/gtsam_unstable/geometry/InvDepthCamera3.h b/gtsam_unstable/geometry/InvDepthCamera3.h
index 4eb7992a2..30f17fb7a 100644
--- a/gtsam_unstable/geometry/InvDepthCamera3.h
+++ b/gtsam_unstable/geometry/InvDepthCamera3.h
@@ -104,7 +104,7 @@ public:
     }
     else {
       gtsam::Matrix J2;
-      gtsam::Point2 uv= camera.project(landmark,H1, J2);
+      gtsam::Point2 uv= camera.project(landmark,H1, J2, boost::none);
       if (H1) {
         *H1 = (*H1) * gtsam::eye(6);
       }