diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index d6b549acb..8fc8880e1 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -11,7 +11,7 @@
 
 /**
  * @file   SmartProjectionFactor.h
- * @brief  Base class to create smart factors on poses or cameras
+ * @brief  Smart factor on cameras (pose + calibration)
  * @author Luca Carlone
  * @author Zsolt Kira
  * @author Frank Dellaert
@@ -108,16 +108,22 @@ public:
   void setEnableEPI(bool enableEPI) {
     triangulation.enableEPI = enableEPI;
   }
-  void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) {
+  void setLandmarkDistanceThreshold(double landmarkDistanceThreshold) {
     triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold;
   }
-  void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) {
+  void setDynamicOutlierRejectionThreshold(double dynOutRejectionThreshold) {
     triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold;
   }
 };
 
 /**
  * SmartProjectionFactor: triangulates point and keeps an estimate of it around.
+ * This factor operates with monocular cameras, where a camera is expected to
+ * behave like PinholeCamera or PinholePose. This factor is intended
+ * to be used directly with PinholeCamera, which optimizes the camera pose
+ * and calibration. This also requires that values contains the involved
+ * cameras (instead of poses and calibrations separately).
+ * If the calibration is fixed use SmartProjectionPoseFactor instead!
  */
 template<class CAMERA>
 class SmartProjectionFactor: public SmartFactorBase<CAMERA> {
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index 93a4449f5..834c9c9b6 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -11,7 +11,7 @@
 
 /**
  * @file   SmartProjectionPoseFactor.h
- * @brief  Produces an Hessian factors on POSES from monocular measurements of a single landmark
+ * @brief  Smart factor on poses, assuming camera calibration is fixed
  * @author Luca Carlone
  * @author Chris Beall
  * @author Zsolt Kira
@@ -34,7 +34,11 @@ namespace gtsam {
  */
 
 /**
- * The calibration is known here. The factor only constraints poses (variable dimension is 6)
+ * This factor assumes that camera calibration is fixed, and that
+ * the calibration is the same for all cameras involved in this factor.
+ * The factor only constrains poses (variable dimension is 6).
+ * This factor requires that values contains the involved poses (Pose3).
+ * If the calibration should be optimized, as well, use SmartProjectionFactor instead!
  * @addtogroup SLAM
  */
 template<class CALIBRATION>
@@ -58,7 +62,7 @@ public:
   /**
    * Constructor
    * @param K (fixed) calibration, assumed to be the same for all cameras
-   * @param  body_P_sensor pose of the camera in the body frame
+   * @param body_P_sensor pose of the camera in the body frame
    * @param params internal parameters of the smart factors
    */
   SmartProjectionPoseFactor(const boost::shared_ptr<CALIBRATION> K,