diff --git a/gtsam/geometry/StereoCamera.cpp b/gtsam/geometry/StereoCamera.cpp
index f636d22d5..0ac08cee2 100644
--- a/gtsam/geometry/StereoCamera.cpp
+++ b/gtsam/geometry/StereoCamera.cpp
@@ -42,7 +42,7 @@ StereoPoint2 StereoCamera::project(const Point3& point,
 		Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
 		Matrix D_intrinsic_pose = D_intrinsic_cameraPoint * D_cameraPoint_pose;
 
-		Matrix D_projection_intrinsic = Duncalibrate2(K()); // 3x3
+		Matrix D_projection_intrinsic = Duncalibrate2(calibration()); // 3x3
 		*Dproject_stereo_pose = D_projection_intrinsic * D_intrinsic_pose;
 	}
 
@@ -54,7 +54,7 @@ StereoPoint2 StereoCamera::project(const Point3& point,
 		Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
 		Matrix D_intrinsic_point = D_intrinsic_cameraPoint * D_cameraPoint_point;
 
-		Matrix D_projection_intrinsic = Duncalibrate2(K()); // 3x3
+		Matrix D_projection_intrinsic = Duncalibrate2(calibration()); // 3x3
 		*Dproject_stereo_point = D_projection_intrinsic * D_intrinsic_point;
 	}
 
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 9041f28d4..9aebb5ebd 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -40,7 +40,7 @@ namespace gtsam {
 
 		StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo& K);
 
-		const Cal3_S2Stereo& K() const {
+		const Cal3_S2Stereo& calibration() const {
 			return K_;
 		}
 
@@ -63,7 +63,7 @@ namespace gtsam {
 
 		/** Exponential map around p0 */
 		inline StereoCamera expmap(const Vector& d) const {
-			return StereoCamera(pose().expmap(d),K());
+			return StereoCamera(pose().expmap(d),calibration());
 		}
 
 		Vector logmap(const StereoCamera &camera) const {