diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp
index bb8935439..e7c0aa696 100644
--- a/examples/SFMExample_SmartFactor.cpp
+++ b/examples/SFMExample_SmartFactor.cpp
@@ -58,7 +58,7 @@ int main(int argc, char* argv[]) {
   for (size_t j = 0; j < points.size(); ++j) {
 
     // every landmark represent a single landmark, we use shared pointer to init the factor, and then insert measurements.
-    SmartFactor::shared_ptr smartfactor(new SmartFactor(K));
+    SmartFactor::shared_ptr smartfactor(new SmartFactor(measurementNoise, K));
 
     for (size_t i = 0; i < poses.size(); ++i) {
 
@@ -71,7 +71,7 @@ int main(int argc, char* argv[]) {
       //    2. the corresponding camera's key
       //    3. camera noise model
       //    4. camera calibration
-      smartfactor->add(measurement, i, measurementNoise);
+      smartfactor->add(measurement, i);
     }
 
     // insert the smart factor in the graph
diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp
index 7ec5f8268..743934c7c 100644
--- a/examples/SFMExample_SmartFactorPCG.cpp
+++ b/examples/SFMExample_SmartFactorPCG.cpp
@@ -54,7 +54,7 @@ int main(int argc, char* argv[]) {
   for (size_t j = 0; j < points.size(); ++j) {
 
     // every landmark represent a single landmark, we use shared pointer to init the factor, and then insert measurements.
-    SmartFactor::shared_ptr smartfactor(new SmartFactor(K));
+    SmartFactor::shared_ptr smartfactor(new SmartFactor(measurementNoise, K));
 
     for (size_t i = 0; i < poses.size(); ++i) {
 
@@ -63,7 +63,7 @@ int main(int argc, char* argv[]) {
       Point2 measurement = camera.project(points[j]);
 
       // call add() function to add measurement into a single factor, here we need to add:
-      smartfactor->add(measurement, i, measurementNoise);
+      smartfactor->add(measurement, i);
     }
 
     // insert the smart factor in the graph
diff --git a/gtsam.h b/gtsam.h
index 6fb73e0ca..a75dbf056 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2364,15 +2364,17 @@ class SmartProjectionParams {
 template<CALIBRATION>
 virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor {
 
-  SmartProjectionPoseFactor(const CALIBRATION* K);
-  SmartProjectionPoseFactor(const CALIBRATION* K,
+  SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
+      const CALIBRATION* K);
+  SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
+      const CALIBRATION* K,
       const gtsam::Pose3& body_P_sensor);
-  SmartProjectionPoseFactor(const CALIBRATION* K,
+  SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
+      const CALIBRATION* K,
       const gtsam::Pose3& body_P_sensor,
       const gtsam::SmartProjectionParams& params);
 
-  void add(const gtsam::Point2& measured_i, size_t poseKey_i,
-      const gtsam::noiseModel::Base* noise_i);
+  void add(const gtsam::Point2& measured_i, size_t poseKey_i);
 
   // enabling serialization functionality
   //void serialize() const;
diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
index e00dcee57..1423ef113 100644
--- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
+++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
@@ -87,17 +87,17 @@ int main(int argc, char** argv){
 
   //read stereo measurements and construct smart factors
 
-  SmartFactor::shared_ptr factor(new SmartFactor(K));
+  SmartFactor::shared_ptr factor(new SmartFactor(model, K));
   size_t current_l = 3;   // hardcoded landmark ID from first measurement
 
   while (factor_file >> i >> l >> uL >> uR >> v >> X >> Y >> Z) {
 
     if(current_l != l) {
       graph.push_back(factor);
-      factor = SmartFactor::shared_ptr(new SmartFactor(K));
+      factor = SmartFactor::shared_ptr(new SmartFactor(model, K));
       current_l = l;
     }
-    factor->add(Point2(uL,v), i, model);
+    factor->add(Point2(uL,v), i);
   }
 
   Pose3 firstPose = initial_estimate.at<Pose3>(1);