diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 5f77ebf58..8621d77ad 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -131,12 +131,15 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
     return z;
   }
 
-  /** An overload o the project2 function to accept
+  /** An overload of the project2 function to accept
    * full matrices and vectors and pass it to the pointer
-   * version of the function
+   * version of the function.
+   *
+   * Use SFINAE to resolve overload ambiguity.
    */
   template <class POINT, class... OptArgs>
-  ZVector project2(const POINT& point, OptArgs&... args) const {
+  typename std::enable_if<(sizeof...(OptArgs) != 0), ZVector>::type project2(
+      const POINT& point, OptArgs&... args) const {
     // pass it to the pointer version of the function
     return project2(point, (&args)...);
   }