diff --git a/cpp/CalibratedCamera.cpp b/cpp/CalibratedCamera.cpp
index f714c499e..baaeab1cd 100644
--- a/cpp/CalibratedCamera.cpp
+++ b/cpp/CalibratedCamera.cpp
@@ -5,6 +5,7 @@
  *      Author: dellaert
  */
 
+#include "Point2.h"
 #include "CalibratedCamera.h"
 
 namespace gtsam {
diff --git a/cpp/CalibratedCamera.h b/cpp/CalibratedCamera.h
index 36f17ba8a..0f67f1d4d 100644
--- a/cpp/CalibratedCamera.h
+++ b/cpp/CalibratedCamera.h
@@ -8,12 +8,13 @@
 #ifndef CalibratedCAMERA_H_
 #define CalibratedCAMERA_H_
 
-#include "Point2.h"
 #include "Pose2.h"
 #include "Pose3.h"
 
 namespace gtsam {
 
+	class Point2;
+
 	/**
 	 * projects a 3-dimensional point in camera coordinates into the
 	 * camera and returns a 2-dimensional point, no calibration applied
@@ -44,6 +45,8 @@ namespace gtsam {
 
 		/**
 		 * Create a level camera at the given 2D pose and height
+		 * @param pose2 specifies the location and viewing direction
+		 * (theta 0 = looking in direction of positive X axis)
 		 */
 		static CalibratedCamera level(const Pose2& pose2, double height);