diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index f3b14f3c4..7dec508e0 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -174,6 +174,7 @@ namespace gtsam {
     	Point3 zc = target-eye;
     	zc = zc/zc.norm();
     	Point3 xc = (-upVector).cross(zc);	// minus upVector since yc is pointing down
+    	xc = xc/xc.norm();
     	Point3 yc = zc.cross(xc);
     	Pose3 pose3(Rot3(xc,yc,zc), eye);
     	return PinholeCamera(pose3, K);
diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp
index e918606a1..d0f961bfa 100644
--- a/gtsam/geometry/tests/testSimpleCamera.cpp
+++ b/gtsam/geometry/tests/testSimpleCamera.cpp
@@ -74,6 +74,16 @@ TEST( SimpleCamera, lookat)
 	Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
 	Pose3 expected(Rot3(xc,yc,zc),C);
   CHECK(assert_equal( camera.pose(), expected));
+
+
+  Point3 C2(30.0,0.0,10.0);
+  SimpleCamera camera2 = SimpleCamera::lookat(C2, Point3(), Point3(0.0,0.0,1.0));
+
+  Matrix R = camera2.pose().rotation().matrix();
+  Matrix I = trans(R)*R;
+  gtsam::print(I,"I=");
+  CHECK(assert_equal(I, eye(3)));
+
 }
 
 /* ************************************************************************* */