diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index de6ce8509..6c38b5f0b 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -241,76 +241,74 @@ public:
     bool retriangulate = decideIfTriangulate(cameras);
     if (retriangulate) {
       // We triangulate the 3D position of the landmark
-//      try {
-//        // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl;
-//
-//        //TODO: Chris will replace this with something else for stereo
-////        point_ = triangulatePoint3<CALIBRATION>(cameras, this->measured_,
-////            rankTolerance_, enableEPI_);
-//
-//        // // // Temporary hack to use monocular triangulation
-//        std::vector<Point2> mono_measurements;
-//        BOOST_FOREACH(const StereoPoint2& sp, this->measured_) {
-//          mono_measurements.push_back(sp.point2());
-//        }
-//
-//        std::vector<PinholeCamera<Cal3_S2> > mono_cameras;
-//        BOOST_FOREACH(const StereoCamera& camera, cameras) {
-//          const Pose3& pose = camera.pose();
-//          const Cal3_S2& K = camera.calibration()->calibration();
-//          mono_cameras.push_back(PinholeCamera<Cal3_S2>(pose, K));
-//        }
-//        point_ = triangulatePoint3<PinholeCamera<Cal3_S2> >(mono_cameras, mono_measurements,
-//            parameters_.rankTolerance, parameters_.enableEPI);
-//
-//        // // // End temporary hack
-//
-//        // FIXME: temporary: triangulation using only first camera
-////        const StereoPoint2& z0 = this->measured_.at(0);
-////        point_ = cameras[0].backproject(z0);
-//
-//        degenerate_ = false;
-//        cheiralityException_ = false;
-//
-//        // Check landmark distance and reprojection errors to avoid outliers
-//        double totalReprojError = 0.0;
-//        size_t i = 0;
-//        BOOST_FOREACH(const StereoCamera& camera, cameras) {
-//          Point3 cameraTranslation = camera.pose().translation();
-//          // we discard smart factors corresponding to points that are far away
-//          if (cameraTranslation.distance(point_) > parameters_.landmarkDistanceThreshold) {
-//            degenerate_ = true;
-//            break;
-//          }
-//          const StereoPoint2& zi = this->measured_.at(i);
-//          try {
-//            StereoPoint2 reprojectionError(camera.project(point_) - zi);
-//            totalReprojError += reprojectionError.vector().norm();
-//          } catch (CheiralityException) {
-//            cheiralityException_ = true;
-//          }
-//          i += 1;
-//        }
-//        //std::cout << "totalReprojError error: " << totalReprojError << std::endl;
-//        // we discard smart factors that have large reprojection error
-//        if (parameters_.dynamicOutlierRejectionThreshold > 0
-//            && totalReprojError / m > parameters_.dynamicOutlierRejectionThreshold)
-//          degenerate_ = true;
-//
-//      } catch (TriangulationUnderconstrainedException&) {
-//        // if TriangulationUnderconstrainedException can be
-//        // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before
-//        // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark)
-//        // in the second case we want to use a rotation-only smart factor
-//        degenerate_ = true;
-//        cheiralityException_ = false;
-//      } catch (TriangulationCheiralityException&) {
-//        // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers
-//        // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint
-//        cheiralityException_ = true;
-//      }
+      try {
+        // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl;
+
+        //TODO: Chris will replace this with something else for stereo
+//        point_ = triangulatePoint3<CALIBRATION>(cameras, this->measured_,
+//            rankTolerance_, enableEPI_);
+
+        // // // Temporary hack to use monocular triangulation
+        std::vector<Point2> mono_measurements;
+        BOOST_FOREACH(const StereoPoint2& sp, this->measured_) {
+          mono_measurements.push_back(sp.point2());
+        }
+
+        std::vector<PinholeCamera<Cal3_S2> > mono_cameras;
+        BOOST_FOREACH(const StereoCamera& camera, cameras) {
+          const Pose3& pose = camera.pose();
+          const Cal3_S2& K = camera.calibration()->calibration();
+          mono_cameras.push_back(PinholeCamera<Cal3_S2>(pose, K));
+        }
+        Point3 point = triangulatePoint3<PinholeCamera<Cal3_S2> >(mono_cameras, mono_measurements,
+            params_.triangulation.rankTolerance, params_.triangulation.enableEPI);
+
+        // // // End temporary hack
+
+        // FIXME: temporary: triangulation using only first camera
+//        const StereoPoint2& z0 = this->measured_.at(0);
+//        point_ = cameras[0].backproject(z0);
+
+        // Check landmark distance and reprojection errors to avoid outliers
+        double totalReprojError = 0.0;
+        size_t i = 0;
+        BOOST_FOREACH(const StereoCamera& camera, cameras) {
+          Point3 cameraTranslation = camera.pose().translation();
+          // we discard smart factors corresponding to points that are far away
+          if (cameraTranslation.distance(point) > params_.triangulation.landmarkDistanceThreshold) {
+            return TriangulationResult::Degenerate();
+          }
+          const StereoPoint2& zi = this->measured_.at(i);
+          try {
+            StereoPoint2 reprojectionError(camera.project(point) - zi);
+            totalReprojError += reprojectionError.vector().norm();
+          } catch (CheiralityException) {
+            return TriangulationResult::BehindCamera();
+          }
+          i += 1;
+        }
+        //std::cout << "totalReprojError error: " << totalReprojError << std::endl;
+        // we discard smart factors that have large reprojection error
+        if (params_.triangulation.dynamicOutlierRejectionThreshold > 0
+            && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold)
+          return TriangulationResult::Degenerate();
+
+        result_ = TriangulationResult(point);
+
+      } catch (TriangulationUnderconstrainedException&) {
+        // if TriangulationUnderconstrainedException can be
+        // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before
+        // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark)
+        // in the second case we want to use a rotation-only smart factor
+        return TriangulationResult::Degenerate();
+      } catch (TriangulationCheiralityException&) {
+        // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers
+        // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint
+        return TriangulationResult::BehindCamera();
+      }
     }
-    return TriangulationResult(Point3());
+    return result_;
+
   }
 
   /// triangulate