diff --git a/gtsam/geometry/FundamentalMatrix.cpp b/gtsam/geometry/FundamentalMatrix.cpp
index 71ca47418..57d59d0a0 100644
--- a/gtsam/geometry/FundamentalMatrix.cpp
+++ b/gtsam/geometry/FundamentalMatrix.cpp
@@ -10,8 +10,8 @@
 namespace gtsam {
 
 //*************************************************************************
-Point2 Transfer(const Matrix3& Fca, const Point2& pa,  //
-                const Matrix3& Fcb, const Point2& pb) {
+Point2 EpipolarTransfer(const Matrix3& Fca, const Point2& pa,  //
+                        const Matrix3& Fcb, const Point2& pb) {
   // Create lines in camera a from projections of the other two cameras
   Vector3 line_a = Fca * Vector3(pa.x(), pa.y(), 1);
   Vector3 line_b = Fcb * Vector3(pb.x(), pb.y(), 1);
@@ -24,6 +24,7 @@ Point2 Transfer(const Matrix3& Fca, const Point2& pa,  //
 
   return intersectionPoint.head<2>();  // Return the 2D point
 }
+
 //*************************************************************************
 FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
   // Perform SVD
diff --git a/gtsam/geometry/FundamentalMatrix.h b/gtsam/geometry/FundamentalMatrix.h
index 718364ca0..497f95cf7 100644
--- a/gtsam/geometry/FundamentalMatrix.h
+++ b/gtsam/geometry/FundamentalMatrix.h
@@ -147,8 +147,8 @@ class GTSAM_EXPORT SimpleFundamentalMatrix {
  * Take two fundamental matrices Fca and Fcb, and two points pa and pb, and
  * returns the 2D point in view (c) where the epipolar lines intersect.
  */
-GTSAM_EXPORT Point2 Transfer(const Matrix3& Fca, const Point2& pa,
-                             const Matrix3& Fcb, const Point2& pb);
+GTSAM_EXPORT Point2 EpipolarTransfer(const Matrix3& Fca, const Point2& pa,
+                                     const Matrix3& Fcb, const Point2& pb);
 
 /// Represents a set of three fundamental matrices for transferring points
 /// between three cameras.
@@ -158,17 +158,17 @@ struct TripleF {
 
   /// Transfers a point from cameras b,c to camera a.
   Point2 transferToA(const Point2& pb, const Point2& pc) {
-    return Transfer(Fab.matrix(), pb, Fca.matrix().transpose(), pc);
+    return EpipolarTransfer(Fab.matrix(), pb, Fca.matrix().transpose(), pc);
   }
 
   /// Transfers a point from camera a,c to camera b.
   Point2 transferToB(const Point2& pa, const Point2& pc) {
-    return Transfer(Fab.matrix().transpose(), pa, Fbc.matrix(), pc);
+    return EpipolarTransfer(Fab.matrix().transpose(), pa, Fbc.matrix(), pc);
   }
 
   /// Transfers a point from cameras a,b to camera c.
   Point2 transferToC(const Point2& pa, const Point2& pb) {
-    return Transfer(Fca.matrix(), pa, Fbc.matrix().transpose(), pb);
+    return EpipolarTransfer(Fca.matrix(), pa, Fbc.matrix().transpose(), pb);
   }
 };