diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index beb2f1e67..3f3ae5a52 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -50,10 +50,10 @@ namespace gtsam {
 
 		/**
 		 * Constructor
-		 * @param z is the 2 dimensional location of point in image (the measurement)
+		 * @param measured is the 2 dimensional location of point in image (the measurement)
 		 * @param model is the standard deviation of the measurements
-		 * @param i is basically the frame number
-		 * @param j is the index of the landmark
+		 * @param cameraKey is the index of the camera
+		 * @param landmarkKey is the index of the landmark
 		 */
 		GeneralSFMFactor(const Point2& measured, const SharedNoiseModel& model, Key cameraKey, Key landmarkKey) :
 		  Base(model, cameraKey, landmarkKey), measured_(measured) {}
@@ -72,6 +72,7 @@ namespace gtsam {
 		/**
 		 * print
 		 * @param s optional string naming the factor
+		 * @param keyFormatter optional formatter for printing out Symbols
 		 */
 		void print(const std::string& s = "SFMFactor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
 			Base::print(s, keyFormatter);
@@ -140,10 +141,11 @@ namespace gtsam {
 
     /**
      * Constructor
-     * @param z is the 2 dimensional location of point in image (the measurement)
+     * @param measured is the 2 dimensional location of point in image (the measurement)
      * @param model is the standard deviation of the measurements
-     * @param i is basically the frame number
-     * @param j is the index of the landmark
+     * @param poseKey is the index of the camera
+     * @param landmarkKey is the index of the landmark
+     * @param calibKey is the index of the calibration
      */
     GeneralSFMFactor2(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key landmarkKey, Key calibKey) :
       Base(model, poseKey, landmarkKey, calibKey), measured_(measured) {}
@@ -159,6 +161,7 @@ namespace gtsam {
     /**
      * print
      * @param s optional string naming the factor
+     * @param keyFormatter optional formatter useful for printing Symbols
      */
     void print(const std::string& s = "SFMFactor2", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
       Base::print(s, keyFormatter);
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 00bb7f36a..79796e6c3 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -56,10 +56,10 @@ namespace gtsam {
 		/**
 		 * Constructor
 		 * TODO: Mark argument order standard (keys, measurement, parameters)
-		 * @param z is the 2 dimensional location of point in image (the measurement)
+		 * @param measured is the 2 dimensional location of point in image (the measurement)
 		 * @param model is the standard deviation
-		 * @param j_pose is basically the frame number
-		 * @param j_landmark is the index of the landmark
+		 * @param poseKey is the index of the camera
+		 * @param pointKey is the index of the landmark
 		 * @param K shared pointer to the constant calibration
 		 */
 		GenericProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
@@ -78,6 +78,7 @@ namespace gtsam {
 		/**
 		 * print
 		 * @param s optional string naming the factor
+	   * @param keyFormatter optional formatter useful for printing Symbols
 		 */
 		void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
       std::cout << s << "GenericProjectionFactor, z = ";
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 6195c0eed..87cb95d25 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -70,6 +70,7 @@ public:
 	/**
 	 * print
 	 * @param s optional string naming the factor
+   * @param keyFormatter optional formatter useful for printing Symbols
 	 */
 	void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
 		Base::print(s, keyFormatter);
diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h
index 33db8c1be..f5856f6c8 100644
--- a/gtsam_unstable/slam/InvDepthFactor3.h
+++ b/gtsam_unstable/slam/InvDepthFactor3.h
@@ -43,7 +43,7 @@ public:
 	 * TODO: Mark argument order standard (keys, measurement, parameters)
 	 * @param measured is the 2 dimensional location of point in image (the measurement)
 	 * @param model is the standard deviation
-	 * @param poseKey is basically the frame number
+	 * @param poseKey is the index of the camera pose
 	 * @param pointKey is the index of the landmark
    * @param invDepthKey is the index of inverse depth
 	 * @param K shared pointer to the constant calibration