diff --git a/gtsam.h b/gtsam.h
index 9976cbf01..678e2a3d6 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2179,27 +2179,6 @@ typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_
 typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;
 
 
-#include <gtsam/slam/TransformProjectionFactor.h>
-template<POSE, LANDMARK, CALIBRATION>
-virtual class TransformProjectionFactor : gtsam::NoiseModelFactor {
-  TransformProjectionFactor(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,
-      size_t poseKey, size_t transformKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality);
-
-  gtsam::Point2 measured() const;
-  CALIBRATION* calibration() const;
-  bool verboseCheirality() const;
-  bool throwCheirality() const;
-
-  // 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;
-
-
 #include <gtsam/slam/GeneralSFMFactor.h>
 template<CAMERA, LANDMARK>
 virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 06a41f5ec..4254368cd 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -24,6 +24,7 @@ virtual class gtsam::GaussianFactor;
 virtual class gtsam::HessianFactor;
 virtual class gtsam::JacobianFactor;
 virtual class gtsam::Cal3_S2;
+virtual class gtsam::Cal3DS2;
 class gtsam::GaussianFactorGraph;
 class gtsam::NonlinearFactorGraph;
 class gtsam::Ordering;
@@ -740,4 +741,45 @@ virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
   void print(string s) const;
 };
 
+#include <gtsam/geometry/Cal3DS2.h>
+#include <gtsam_unstable/slam/TransformProjectionFactor.h>
+template<POSE, LANDMARK, CALIBRATION>
+virtual class TransformProjectionFactor : gtsam::NoiseModelFactor {
+  TransformProjectionFactor(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,
+      size_t poseKey, size_t transformKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality);
+
+  gtsam::Point2 measured() const;
+  CALIBRATION* calibration() const;
+  bool verboseCheirality() const;
+  bool throwCheirality() const;
+
+  // 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;
+
+
+#include <gtsam_unstable/slam/TransformCalProjectionFactor.h>
+template<POSE, LANDMARK, CALIBRATION>
+virtual class TransformCalProjectionFactor : gtsam::NoiseModelFactor {
+  TransformCalProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
+    size_t poseKey, size_t transformKey, size_t pointKey, size_t calibKey);
+
+  TransformCalProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
+      size_t poseKey, size_t transformKey, size_t pointKey, size_t calibKey, bool throwCheirality, bool verboseCheirality);
+
+  gtsam::Point2 measured() const;
+  bool verboseCheirality() const;
+  bool throwCheirality() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+typedef gtsam::TransformCalProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> TransformCalProjectionFactorCal3_S2;
+typedef gtsam::TransformCalProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> TransformCalProjectionFactorCal3DS2;
+
 } //\namespace gtsam
diff --git a/gtsam/slam/TransformProjectionFactor.h b/gtsam_unstable/slam/TransformProjectionFactor.h
similarity index 100%
rename from gtsam/slam/TransformProjectionFactor.h
rename to gtsam_unstable/slam/TransformProjectionFactor.h
diff --git a/gtsam/slam/tests/testTransformProjectionFactor.cpp b/gtsam_unstable/slam/tests/testTransformProjectionFactor.cpp
similarity index 99%
rename from gtsam/slam/tests/testTransformProjectionFactor.cpp
rename to gtsam_unstable/slam/tests/testTransformProjectionFactor.cpp
index d38376cb6..2dd44dfb5 100644
--- a/gtsam/slam/tests/testTransformProjectionFactor.cpp
+++ b/gtsam_unstable/slam/tests/testTransformProjectionFactor.cpp
@@ -18,7 +18,7 @@
 
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/TestableAssertions.h>
-#include <gtsam/slam/TransformProjectionFactor.h>
+#include <gtsam_unstable/slam/TransformProjectionFactor.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/geometry/Cal3DS2.h>
 #include <gtsam/geometry/Cal3_S2.h>