diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index ccf68a4a6..ac87bc121 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -746,13 +746,13 @@ virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
 };
 
 #include <gtsam/geometry/Cal3DS2.h>
-#include <gtsam_unstable/slam/TransformProjectionFactor.h>
+#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
 template<POSE, LANDMARK, CALIBRATION>
-virtual class TransformProjectionFactor : gtsam::NoiseModelFactor {
-  TransformProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
+virtual class ProjectionFactorPPP : gtsam::NoiseModelFactor {
+  ProjectionFactorPPP(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
     size_t poseKey, size_t transformKey, size_t pointKey, const CALIBRATION* k);
 
-  TransformProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
+  ProjectionFactorPPP(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
       size_t poseKey, size_t transformKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality);
 
   gtsam::Point2 measured() const;
@@ -763,8 +763,8 @@ virtual class TransformProjectionFactor : gtsam::NoiseModelFactor {
   // enabling serialization functionality
   void serialize() const;
 };
-typedef gtsam::TransformProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> TransformProjectionFactorCal3_S2;
-typedef gtsam::TransformProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> TransformProjectionFactorCal3DS2;
+typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCal3_S2;
+typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCal3DS2;
 
 
 #include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
diff --git a/gtsam_unstable/slam/TransformProjectionFactor.h b/gtsam_unstable/slam/ProjectionFactorPPP.h
similarity index 89%
rename from gtsam_unstable/slam/TransformProjectionFactor.h
rename to gtsam_unstable/slam/ProjectionFactorPPP.h
index b76968ff4..e7060dcd4 100644
--- a/gtsam_unstable/slam/TransformProjectionFactor.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@@ -10,18 +10,17 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file TransformProjectionFactor.h
- * @brief Basic bearing factor from 2D measurement
+ * @file ProjectionFactorPPP.h
+ * @brief Derived from ProjectionFactor, but estimates body-camera transform
+ * in addition to body pose and 3D landmark
  * @author Chris Beall
- * @author Richard Roberts
- * @author Frank Dellaert
- * @author Alex Cunningham
  */
 
 #pragma once
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/geometry/SimpleCamera.h>
+#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3_S2.h>
 #include <boost/optional.hpp>
 
 namespace gtsam {
@@ -32,7 +31,7 @@ namespace gtsam {
    * @addtogroup SLAM
    */
   template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
-  class TransformProjectionFactor: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
+  class ProjectionFactorPPP: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
   protected:
 
     // Keep a copy of measurement and calibration for I/O
@@ -49,13 +48,13 @@ namespace gtsam {
     typedef NoiseModelFactor3<POSE, POSE, LANDMARK> Base;
 
     /// shorthand for this class
-    typedef TransformProjectionFactor<POSE, LANDMARK, CALIBRATION> This;
+    typedef ProjectionFactorPPP<POSE, LANDMARK, CALIBRATION> This;
 
     /// shorthand for a smart pointer to a factor
     typedef boost::shared_ptr<This> shared_ptr;
 
     /// Default constructor
-    TransformProjectionFactor() : throwCheirality_(false), verboseCheirality_(false) {}
+    ProjectionFactorPPP() : throwCheirality_(false), verboseCheirality_(false) {}
 
     /**
      * Constructor
@@ -63,10 +62,11 @@ namespace gtsam {
      * @param measured is the 2 dimensional location of point in image (the measurement)
      * @param model is the standard deviation
      * @param poseKey is the index of the camera
+     * @param transformKey is the index of the body-camera transform
      * @param pointKey is the index of the landmark
      * @param K shared pointer to the constant calibration
      */
-    TransformProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
+    ProjectionFactorPPP(const Point2& measured, const SharedNoiseModel& model,
         Key poseKey, Key transformKey,  Key pointKey,
         const boost::shared_ptr<CALIBRATION>& K) :
           Base(model, poseKey, transformKey, pointKey), measured_(measured), K_(K),
@@ -83,7 +83,7 @@ namespace gtsam {
      * @param throwCheirality determines whether Cheirality exceptions are rethrown
      * @param verboseCheirality determines whether exceptions are printed for Cheirality
      */
-    TransformProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
+    ProjectionFactorPPP(const Point2& measured, const SharedNoiseModel& model,
         Key poseKey, Key transformKey, Key pointKey,
         const boost::shared_ptr<CALIBRATION>& K,
         bool throwCheirality, bool verboseCheirality) :
@@ -91,7 +91,7 @@ namespace gtsam {
           throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
 
     /** Virtual destructor */
-    virtual ~TransformProjectionFactor() {}
+    virtual ~ProjectionFactorPPP() {}
 
     /// @return a deep copy of this factor
     virtual gtsam::NonlinearFactor::shared_ptr clone() const {
@@ -104,7 +104,7 @@ namespace gtsam {
      * @param keyFormatter optional formatter useful for printing Symbols
      */
     void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-      std::cout << s << "TransformProjectionFactor, z = ";
+      std::cout << s << "ProjectionFactorPPP, z = ";
       measured_.print();
       Base::print("", keyFormatter);
     }
diff --git a/gtsam_unstable/slam/tests/testTransformProjectionFactor.cpp b/gtsam_unstable/slam/tests/testProjectionFactorPPP.cpp
similarity index 96%
rename from gtsam_unstable/slam/tests/testTransformProjectionFactor.cpp
rename to gtsam_unstable/slam/tests/testProjectionFactorPPP.cpp
index 2dd44dfb5..3a7bf0cd0 100644
--- a/gtsam_unstable/slam/tests/testTransformProjectionFactor.cpp
+++ b/gtsam_unstable/slam/tests/testProjectionFactorPPP.cpp
@@ -11,14 +11,14 @@
 
 /**
  *  @file  testProjectionFactor.cpp
- *  @brief Unit tests for ProjectionFactor Class
- *  @author Frank Dellaert
- *  @date Nov 2009
+ *  @brief Unit tests for ProjectionFactorPPP Class
+ *  @author Chris Beall
+ *  @date July 2014
  */
 
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/TestableAssertions.h>
-#include <gtsam_unstable/slam/TransformProjectionFactor.h>
+#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/geometry/Cal3DS2.h>
 #include <gtsam/geometry/Cal3_S2.h>
@@ -46,11 +46,11 @@ using symbol_shorthand::X;
 using symbol_shorthand::L;
 using symbol_shorthand::T;
 
-typedef TransformProjectionFactor<Pose3, Point3> TestProjectionFactor;
+typedef ProjectionFactorPPP<Pose3, Point3> TestProjectionFactor;
 
 /* ************************************************************************* */
 TEST( ProjectionFactor, nonStandard ) {
-  TransformProjectionFactor<Pose3, Point3, Cal3DS2> f;
+  ProjectionFactorPPP<Pose3, Point3, Cal3DS2> f;
 }
 
 /* ************************************************************************* */