diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp
index 3f586a67f..277c78ee0 100644
--- a/examples/CameraResectioning.cpp
+++ b/examples/CameraResectioning.cpp
@@ -46,7 +46,7 @@ public:
 	/// evaluate the error
 	virtual Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H =
 			boost::none) const {
-		SimpleCamera camera(*K_, pose);
+		SimpleCamera camera(pose, *K_);
 		Point2 reprojectionError(camera.project(P_, H) - p_);
 		return reprojectionError.vector();
 	}
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 139523802..2754bf7ef 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -56,9 +56,6 @@ namespace gtsam {
     /** constructor with pose and calibration */
     PinholeCamera(const Pose3& pose, const Calibration& K):pose_(pose),K_(K) {}
 
-    /** alternative constructor with pose and calibration */
-    PinholeCamera(const Calibration& K, const Pose3& pose):pose_(pose),K_(K) {}
-
     /// @}
     /// @name Named Constructors
     /// @{
@@ -290,11 +287,6 @@ namespace gtsam {
       return pose_.transform_from(pc);
     }
 
-    /// backproject a 2-dimensional point to a 3-dimensional point at given depth
-    inline Point3 backproject_from_camera(const Point2& p, double depth) const {
-      return backproject(p, depth);
-    }
-
     /**
      * Calculate range to a landmark
      * @param point 3D location of landmark
diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp
index 71f36998c..e46a247a0 100644
--- a/gtsam/geometry/tests/testSimpleCamera.cpp
+++ b/gtsam/geometry/tests/testSimpleCamera.cpp
@@ -35,7 +35,7 @@ const Pose3 pose1(Matrix_(3,3,
 				      ),
 			      Point3(0,0,0.5));
  
-const SimpleCamera camera(K, pose1);
+const SimpleCamera camera(pose1, K);
 
 const Point3 point1(-0.08,-0.08, 0.0);
 const Point3 point2(-0.08, 0.08, 0.0);
@@ -106,7 +106,7 @@ TEST( SimpleCamera, backproject2)
 {
 	Point3 origin;
 	Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera looking down
-	SimpleCamera camera(K, Pose3(rot, origin));
+	SimpleCamera camera(Pose3(rot, origin), K);
 
 	Point3 actual = camera.backproject(Point2(), 1.);
 	Point3 expected(0., 1., 0.);
@@ -119,7 +119,7 @@ TEST( SimpleCamera, backproject2)
 
 /* ************************************************************************* */
 Point2 project2(const Pose3& pose, const Point3& point) {
-	return SimpleCamera(K,pose).project(point);
+	return SimpleCamera(pose,K).project(point);
 }
 
 TEST( SimpleCamera, Dproject_point_pose)
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index e1ea38b27..1b1aeb57b 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -93,7 +93,7 @@ namespace gtsam {
 		Vector evaluateError(const Pose3& pose, const Point3& point,
 				boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
 			try {
-	      PinholeCamera<CALIBRATION> camera(*K_, pose);
+	      PinholeCamera<CALIBRATION> camera(pose, *K_);
 			  Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
 	      return reprojectionError.vector();
 			} catch( CheiralityException& e) {
diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp
index 9a139e581..4679dd740 100644
--- a/tests/testNonlinearEquality.cpp
+++ b/tests/testNonlinearEquality.cpp
@@ -524,9 +524,9 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) {
 			0.0, 0.0, 1.0,
 			0.0, -1.0, 0.0));
 	Pose3 pose1(faceDownY, Point3()); // origin, left camera
-	SimpleCamera camera1(K, pose1);
+	SimpleCamera camera1(pose1, K);
 	Pose3 pose2(faceDownY, Point3(2.0, 0.0, 0.0)); // 2 units to the left
-	SimpleCamera camera2(K, pose2);
+	SimpleCamera camera2(pose2, K);
 	Point3 landmark(1.0, 5.0, 0.0); //centered between the cameras, 5 units away
 
 	// keys