diff --git a/gtsam/geometry/CalibratedCamera.cpp b/gtsam/geometry/CalibratedCamera.cpp
index 2876da579..80f63f3fc 100644
--- a/gtsam/geometry/CalibratedCamera.cpp
+++ b/gtsam/geometry/CalibratedCamera.cpp
@@ -19,6 +19,8 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/CalibratedCamera.h>
 
+using namespace std;
+
 namespace gtsam {
 
 /* ************************************************************************* */
@@ -69,7 +71,7 @@ bool PinholeBase::equals(const PinholeBase &camera, double tol) const {
 }
 
 /* ************************************************************************* */
-void PinholeBase::print(const std::string& s) const {
+void PinholeBase::print(const string& s) const {
   pose_.print(s + ".pose");
 }
 
@@ -83,29 +85,36 @@ const Pose3& PinholeBase::pose(OptionalJacobian<6, 6> H) const {
 }
 
 /* ************************************************************************* */
-Point2 PinholeBase::project_to_camera(const Point3& P,
+Point2 PinholeBase::project_to_camera(const Point3& pc,
     OptionalJacobian<2, 3> Dpoint) {
-#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
-  if (P.z() <= 0)
-  throw CheiralityException();
-#endif
-  double d = 1.0 / P.z();
-  const double u = P.x() * d, v = P.y() * d;
+  double d = 1.0 / pc.z();
+  const double u = pc.x() * d, v = pc.y() * d;
   if (Dpoint)
     *Dpoint << d, 0.0, -u * d, 0.0, d, -v * d;
   return Point2(u, v);
 }
 
+/* ************************************************************************* */
+pair<Point2, bool> PinholeBase::projectSafe(const Point3& pw) const {
+  const Point3 pc = pose().transform_to(pw);
+  const Point2 pn = project_to_camera(pc);
+  return make_pair(pn, pc.z() > 0);
+}
+
 /* ************************************************************************* */
 Point2 PinholeBase::project2(const Point3& point, OptionalJacobian<2, 6> Dpose,
     OptionalJacobian<2, 3> Dpoint) const {
 
   Matrix3 Rt; // calculated by transform_to if needed
   const Point3 q = pose().transform_to(point, boost::none, Dpoint ? &Rt : 0);
-  Point2 pn = project_to_camera(q);
+#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
+  if (q.z() <= 0)
+  throw CheiralityException();
+#endif
+  const Point2 pn = project_to_camera(q);
 
   if (Dpose || Dpoint) {
-    const double z = q.z(), d = 1.0 / z;
+    const double d = 1.0 / q.z();
     if (Dpose)
       *Dpose = PinholeBase::Dpose(pn, d);
     if (Dpoint)
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 9f0ba5ea0..35e8a5086 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -138,21 +138,23 @@ public:
   /// @{
 
   /**
-   * projects a 3-dimensional point in camera coordinates into the
-   * camera and returns a 2-dimensional point
-   * @param P A point in camera coordinates
-   * @param Dpoint is the 2*3 Jacobian w.r.t. P
+   * Project from 3D point in camera coordinates into image
+   * Does *not* throw a CheiralityException, even if pc behind image plane
+   * @param pc point in camera coordinates
+   * @param Dpoint is the 2*3 Jacobian w.r.t. pc
    */
-  static Point2 project_to_camera(const Point3& P, //
+  static Point2 project_to_camera(const Point3& pc, //
       OptionalJacobian<2, 3> Dpoint = boost::none);
 
-  /**
-   * backproject a 2-dimensional point to a 3-dimensional point at given depth
-   */
+  /// Project a point into the image and check depth
+  std::pair<Point2, bool> projectSafe(const Point3& pw) const;
+
+  /// backproject a 2-dimensional point to a 3-dimensional point at given depth
   static Point3 backproject_from_camera(const Point2& p, const double depth);
 
   /**
    * Project point into the image
+   * Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION
    * @param point 3D point in world coordinates
    * @param Dpose the optionally computed Jacobian with respect to camera
    * @param Dpoint the optionally computed Jacobian with respect to the 3D point
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 8785ec3fc..2fc463d2b 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -72,9 +72,9 @@ public:
 
   /// Project a point into the image and check depth
   std::pair<Point2, bool> projectSafe(const Point3& pw) const {
-    const Point3 pc = pose().transform_to(pw);
-    const Point2 pn = project_to_camera(pc);
-    return std::make_pair(calibration().uncalibrate(pn), pc.z() > 0);
+    std::pair<Point2, bool> pn = PinholeBase::projectSafe(pw);
+    pn.first = calibration().uncalibrate(pn.first);
+    return pn;
   }
 
   /** project a point from world coordinate to the image, fixed Jacobians