diff --git a/gtsam/geometry/StereoCamera.cpp b/gtsam/geometry/StereoCamera.cpp
index 5c6646454..c34d4d8f3 100644
--- a/gtsam/geometry/StereoCamera.cpp
+++ b/gtsam/geometry/StereoCamera.cpp
@@ -39,7 +39,10 @@ namespace gtsam {
 
     const Point3 q = leftCamPose_.transform_to(point);
 
-    if ( q.z() <= 0 ) throw StereoCheiralityException();
+#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
+    if (q.z() <= 0)
+      throw StereoCheiralityException();
+#endif
 
     // get calibration
     const Cal3_S2Stereo& K = *K_;
diff --git a/gtsam/geometry/tests/testStereoCamera.cpp b/gtsam/geometry/tests/testStereoCamera.cpp
index 497599a6a..f76d841bf 100644
--- a/gtsam/geometry/tests/testStereoCamera.cpp
+++ b/gtsam/geometry/tests/testStereoCamera.cpp
@@ -104,6 +104,20 @@ TEST( StereoCamera, Dproject)
   CHECK(assert_equal(expected2,actual2,1e-7));
 }
 
+/* ************************************************************************* */
+TEST( StereoCamera, projectCheirality)
+{
+  // create a Stereo camera
+  Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
+  StereoCamera stereoCam(Pose3(), K);
+
+  // point behind the camera
+  Point3 p(0, 0, -5);
+#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
+  CHECK_EXCEPTION(stereoCam.project2(p), StereoCheiralityException);
+#endif
+}
+
 /* ************************************************************************* */
 TEST( StereoCamera, backproject_case1)
 {