diff --git a/examples/ViewGraphExample.cpp b/examples/ViewGraphExample.cpp
index 7b5ed0fc6..d1c7113bc 100644
--- a/examples/ViewGraphExample.cpp
+++ b/examples/ViewGraphExample.cpp
@@ -47,8 +47,8 @@ int main(int argc, char* argv[]) {
   vector<Pose3> poses = posesOnCircle(4, 30);
 
   // Calculate ground truth fundamental matrices, 1 and 2 poses apart
-  auto F1 = GeneralFundamentalMatrix(K, poses[0].between(poses[1]), K);
-  auto F2 = GeneralFundamentalMatrix(K, poses[0].between(poses[2]), K);
+  auto F1 = FundamentalMatrix(K, poses[0].between(poses[1]), K);
+  auto F2 = FundamentalMatrix(K, poses[0].between(poses[2]), K);
 
   // Simulate measurements from each camera pose
   std::array<std::array<Point2, 8>, 4> p;
@@ -67,7 +67,7 @@ int main(int argc, char* argv[]) {
   // in a triplet, we add three binary factors for sparsity during optimization.
   // In this version, we only include triplets between 3 successive cameras.
   NonlinearFactorGraph graph;
-  using Factor = TransferFactor<GeneralFundamentalMatrix>;
+  using Factor = TransferFactor<FundamentalMatrix>;
   for (size_t a = 0; a < 4; ++a) {
     size_t b = (a + 1) % 4;  // Next camera
     size_t c = (a + 2) % 4;  // Camera after next
diff --git a/gtsam/geometry/FundamentalMatrix.h b/gtsam/geometry/FundamentalMatrix.h
index f8aa37bf8..8a3ba86b8 100644
--- a/gtsam/geometry/FundamentalMatrix.h
+++ b/gtsam/geometry/FundamentalMatrix.h
@@ -57,7 +57,7 @@ class GTSAM_EXPORT FundamentalMatrix {
   /**
    * @brief Construct from calibration matrices Ka, Kb, and pose aPb
    *
-   * Initializes the GeneralFundamentalMatrix from the given calibration
+   * Initializes the FundamentalMatrix from the given calibration
    * matrices Ka and Kb, and the pose aPb.
    *
    * @tparam CAL Calibration type, expected to have a matrix() method
@@ -66,8 +66,8 @@ class GTSAM_EXPORT FundamentalMatrix {
    * @param Kb Calibration matrix for the right camera
    */
   template <typename CAL>
-  GeneralFundamentalMatrix(const CAL& Ka, const Pose3& aPb, const CAL& Kb)
-      : GeneralFundamentalMatrix(Ka.K().transpose().inverse() *
+  FundamentalMatrix(const CAL& Ka, const Pose3& aPb, const CAL& Kb)
+      : FundamentalMatrix(Ka.K().transpose().inverse() *
                                  EssentialMatrix::FromPose3(aPb).matrix() *
                                  Kb.K().inverse()) {}