diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index ecfbca057..61e9f0909 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -313,9 +313,8 @@ public:
   }
 
   /// for Linear Triangulation
-  Matrix34 getCameraProjectionMatrix() const {
-    Matrix34 P = Matrix34(PinholeBase::pose().inverse().matrix().block(0, 0, 3, 4));
-    return K_.K() * P;
+  Matrix34 cameraProjectionMatrix() const {
+    return K_.K() * PinholeBase::pose().inverse().matrix().block(0, 0, 3, 4);
   }
 
   /// for Nonlinear Triangulation
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index f364828a1..b4999af7c 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -417,7 +417,7 @@ public:
   }
 
   /// for Linear Triangulation
-  Matrix34 getCameraProjectionMatrix() const {
+  Matrix34 cameraProjectionMatrix() const {
     Matrix34 P = Matrix34(PinholeBase::pose().inverse().matrix().block(0, 0, 3, 4));
     return K_->K() * P;
   }
diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index 4e4e9db61..59658f3ce 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -30,6 +30,13 @@
 
 namespace gtsam {
 
+/**
+ * Empty calibration. Only needed to play well with other cameras
+ * (e.g., when templating functions wrt cameras), since other cameras
+ * have constuctors in the form ‘camera(pose,calibration)’
+ * @addtogroup geometry
+ * \nosubgrouping
+ */
 class GTSAM_EXPORT EmptyCal {
  public:
   enum { dimension = 0 };
@@ -42,7 +49,8 @@ class GTSAM_EXPORT EmptyCal {
 };
 
 /**
- * A spherical camera class that has a Pose3 and measures bearing vectors
+ * A spherical camera class that has a Pose3 and measures bearing vectors.
+ * The camera has an ‘Empty’ calibration and the only 6 dof are the pose
  * @addtogroup geometry
  * \nosubgrouping
  */
@@ -183,7 +191,7 @@ class GTSAM_EXPORT SphericalCamera {
   }
 
   /// for Linear Triangulation
-  Matrix34 getCameraProjectionMatrix() const {
+  Matrix34 cameraProjectionMatrix() const {
     return Matrix34(pose_.inverse().matrix().block(0, 0, 3, 4));
   }
 
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 683435ed3..aaa8d1a26 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -206,7 +206,7 @@ std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>
 projectionMatricesFromCameras(const CameraSet<CAMERA> &cameras) {
   std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projection_matrices;
   for (const CAMERA &camera: cameras) {
-    projection_matrices.push_back(camera.getCameraProjectionMatrix());
+    projection_matrices.push_back(camera.cameraProjectionMatrix());
   }
   return projection_matrices;
 }
@@ -218,7 +218,7 @@ std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projectionMatricesFrom
   std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projection_matrices;
   for (size_t i = 0; i < poses.size(); i++) {
     PinholePose<CALIBRATION> camera(poses.at(i), sharedCal);
-    projection_matrices.push_back(camera.getCameraProjectionMatrix());
+    projection_matrices.push_back(camera.cameraProjectionMatrix());
   }
   return projection_matrices;
 }