diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 5a871d96f..e1ea38b27 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -29,13 +29,13 @@ namespace gtsam {
 	 * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
 	 * i.e. the main building block for visual SLAM.
 	 */
-	template<class POSE, class LANDMARK>
+	template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
 	class GenericProjectionFactor: public NoiseModelFactor2<POSE, LANDMARK> {
 	protected:
 
 		// Keep a copy of measurement and calibration for I/O
-		Point2 measured_;					  		///< 2D measurement
-		boost::shared_ptr<Cal3_S2> K_;  ///< shared pointer to calibration object
+		Point2 measured_;					  		    ///< 2D measurement
+		boost::shared_ptr<CALIBRATION> K_;  ///< shared pointer to calibration object
 
 	public:
 
@@ -43,14 +43,13 @@ namespace gtsam {
 		typedef NoiseModelFactor2<POSE, LANDMARK> Base;
 
 		/// shorthand for this class
-		typedef GenericProjectionFactor<POSE, LANDMARK> This;
+		typedef GenericProjectionFactor<POSE, LANDMARK, CALIBRATION> This;
 
 		/// shorthand for a smart pointer to a factor
 		typedef boost::shared_ptr<This> shared_ptr;
 
 		/// Default constructor
-		GenericProjectionFactor() :
-				K_(new Cal3_S2(444, 555, 666, 777, 888)) {
+		GenericProjectionFactor() {
 		}
 
 		/**
@@ -94,7 +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 {
-	      SimpleCamera camera(*K_, pose);
+	      PinholeCamera<CALIBRATION> camera(*K_, pose);
 			  Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
 	      return reprojectionError.vector();
 			} catch( CheiralityException& e) {
@@ -112,7 +111,7 @@ namespace gtsam {
     }
 
     /** return the calibration object */
-    inline const Cal3_S2::shared_ptr calibration() const {
+    inline const boost::shared_ptr<CALIBRATION> calibration() const {
       return K_;
     }
 
diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp
index 0cd357c70..f344f98c9 100644
--- a/gtsam/slam/tests/testProjectionFactor.cpp
+++ b/gtsam/slam/tests/testProjectionFactor.cpp
@@ -18,6 +18,7 @@
 
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/geometry/Cal3DS2.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
@@ -41,8 +42,14 @@ using symbol_shorthand::X;
 using symbol_shorthand::L;
 
 /* ************************************************************************* */
-TEST( ProjectionFactor, error )
+TEST( ProjectionFactor, nonStandard )
 {
+  GenericProjectionFactor<Pose3, Point3, Cal3DS2> f;
+}
+
+/* ************************************************************************* */
+TEST( ProjectionFactor, error )
+  {
 	// Create the factor with a measurement that is 3 pixels off in x
 	Point2 z(323.,240.);
 	int i=1, j=1;