diff --git a/gtsam/sfm/TransferFactor.h b/gtsam/sfm/TransferFactor.h
index d2085f57e..13de4eb29 100644
--- a/gtsam/sfm/TransferFactor.h
+++ b/gtsam/sfm/TransferFactor.h
@@ -22,6 +22,34 @@
 
 namespace gtsam {
 
+/**
+ * Base class that holds the EdgeKeys and provides the getMatrices method.
+ */
+template <typename F>
+struct TransferEdges {
+  EdgeKey edge1, edge2;  ///< The two EdgeKeys.
+
+  TransferEdges(EdgeKey edge1, EdgeKey edge2) : edge1(edge1), edge2(edge2) {}
+
+  // Create Matrix3 objects based on EdgeKey configurations.
+  std::pair<Matrix3, Matrix3> getMatrices(const F& F1, const F& F2) const {
+    // Fill Fca and Fcb based on EdgeKey configurations.
+    if (edge1.i() == edge2.i()) {
+      return {F1.matrix(), F2.matrix()};
+    } else if (edge1.i() == edge2.j()) {
+      return {F1.matrix(), F2.matrix().transpose()};
+    } else if (edge1.j() == edge2.i()) {
+      return {F1.matrix().transpose(), F2.matrix()};
+    } else if (edge1.j() == edge2.j()) {
+      return {F1.matrix().transpose(), F2.matrix().transpose()};
+    } else {
+      throw std::runtime_error(
+          "TransferEdges: invalid EdgeKey configuration between edge1 (" +
+          std::string(edge1) + ") and edge2 (" + std::string(edge2) + ").");
+    }
+  }
+};
+
 /**
  * Binary factor in the context of Structure from Motion (SfM).
  * It is used to transfer transfer corresponding points from two views to a
@@ -30,76 +58,57 @@ namespace gtsam {
  * the target view. Jacobians are done using numerical differentiation.
  */
 template <typename F>
-class TransferFactor : public NoiseModelFactorN<F, F> {
-  EdgeKey key1_, key2_;  ///< the two EdgeKeys
-  std::vector<std::tuple<Point2, Point2, Point2>>
-      triplets_;  ///< Point triplets
+class TransferFactor : public NoiseModelFactorN<F, F>, public TransferEdges<F> {
+  using Base = NoiseModelFactorN<F, F>;
+  using Triplet = std::tuple<Point2, Point2, Point2>;
+  std::vector<Triplet> triplets_;  ///< Point triplets.
 
  public:
   /**
-   * @brief Constructor for a single triplet of points
+   * @brief Constructor for a single triplet of points.
    *
-   * @note: batching all points for the same transfer will be much faster.
+   * @note Batching all points for the same transfer will be much faster.
    *
-   * @param key1 First EdgeKey specifying F1: (a, c) or (c, a).
-   * @param key2 Second EdgeKey specifying F2: (b, c) or (c, b).
+   * @param edge1 First EdgeKey specifying F1: (a, c) or (c, a).
+   * @param edge2 Second EdgeKey specifying F2: (b, c) or (c, b).
    * @param pa The point in the first view (a).
    * @param pb The point in the second view (b).
    * @param pc The point in the third (and transfer target) view (c).
    * @param model An optional SharedNoiseModel that defines the noise model
    *              for this factor. Defaults to nullptr.
    */
-  TransferFactor(EdgeKey key1, EdgeKey key2, const Point2& pa, const Point2& pb,
-                 const Point2& pc, const SharedNoiseModel& model = nullptr)
-      : NoiseModelFactorN<F, F>(model, key1, key2),
-        key1_(key1),
-        key2_(key2),
+  TransferFactor(EdgeKey edge1, EdgeKey edge2, const Point2& pa,
+                 const Point2& pb, const Point2& pc,
+                 const SharedNoiseModel& model = nullptr)
+      : Base(model, edge1, edge2),
+        TransferEdges<F>(edge1, edge2),
         triplets_({std::make_tuple(pa, pb, pc)}) {}
 
   /**
    * @brief Constructor that accepts a vector of point triplets.
    *
-   * @param key1 First EdgeKey specifying F1: (a, c) or (c, a).
-   * @param key2 Second EdgeKey specifying F2: (b, c) or (c, b).
+   * @param edge1 First EdgeKey specifying F1: (a, c) or (c, a).
+   * @param edge2 Second EdgeKey specifying F2: (b, c) or (c, b).
    * @param triplets A vector of triplets containing (pa, pb, pc).
    * @param model An optional SharedNoiseModel that defines the noise model
    *              for this factor. Defaults to nullptr.
    */
-  TransferFactor(
-      EdgeKey key1, EdgeKey key2,
-      const std::vector<std::tuple<Point2, Point2, Point2>>& triplets,
-      const SharedNoiseModel& model = nullptr)
-      : NoiseModelFactorN<F, F>(model, key1, key2),
-        key1_(key1),
-        key2_(key2),
+  TransferFactor(EdgeKey edge1, EdgeKey edge2,
+                 const std::vector<Triplet>& triplets,
+                 const SharedNoiseModel& model = nullptr)
+      : Base(model, edge1, edge2),
+        TransferEdges<F>(edge1, edge2),
         triplets_(triplets) {}
 
-  // Create Matrix3 objects based on EdgeKey configurations
-  std::pair<Matrix3, Matrix3> getMatrices(const F& F1, const F& F2) const {
-    // Fill Fca and Fcb based on EdgeKey configurations
-    if (key1_.i() == key2_.i()) {
-      return {F1.matrix(), F2.matrix()};
-    } else if (key1_.i() == key2_.j()) {
-      return {F1.matrix(), F2.matrix().transpose()};
-    } else if (key1_.j() == key2_.i()) {
-      return {F1.matrix().transpose(), F2.matrix()};
-    } else if (key1_.j() == key2_.j()) {
-      return {F1.matrix().transpose(), F2.matrix().transpose()};
-    } else {
-      throw std::runtime_error(
-          "TransferFactor: invalid EdgeKey configuration.");
-    }
-  }
-
-  /// vector of errors returns 2*N vector
+  /// Vector of errors returns 2*N vector.
   Vector evaluateError(const F& F1, const F& F2,
                        OptionalMatrixType H1 = nullptr,
                        OptionalMatrixType H2 = nullptr) const override {
-    std::function<Vector(const F&, const F&)> transfer = [&](const F& F1,
-                                                             const F& F2) {
+    std::function<Vector(const F&, const F&)> errorFunction = [&](const F& F1,
+                                                                  const F& F2) {
       Vector errors(2 * triplets_.size());
       size_t idx = 0;
-      auto [Fca, Fcb] = getMatrices(F1, F2);
+      auto [Fca, Fcb] = this->getMatrices(F1, F2);
       for (const auto& tuple : triplets_) {
         const auto& [pa, pb, pc] = tuple;
         Point2 transferredPoint = EpipolarTransfer(Fca, pa, Fcb, pb);
@@ -109,9 +118,10 @@ class TransferFactor : public NoiseModelFactorN<F, F> {
       }
       return errors;
     };
-    if (H1) *H1 = numericalDerivative21<Vector, F, F>(transfer, F1, F2);
-    if (H2) *H2 = numericalDerivative22<Vector, F, F>(transfer, F1, F2);
-    return transfer(F1, F2);
+    if (H1) *H1 = numericalDerivative21<Vector, F, F>(errorFunction, F1, F2);
+    if (H2) *H2 = numericalDerivative22<Vector, F, F>(errorFunction, F1, F2);
+    return errorFunction(F1, F2);
+
   }
 };