diff --git a/gtsam/geometry/StereoCamera.cpp b/gtsam/geometry/StereoCamera.cpp
index ed531a2bd..7412c42f6 100644
--- a/gtsam/geometry/StereoCamera.cpp
+++ b/gtsam/geometry/StereoCamera.cpp
@@ -30,7 +30,8 @@ namespace gtsam {
 
   /* ************************************************************************* */
   StereoPoint2 StereoCamera::project(const Point3& point,
-      boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
+      boost::optional<Matrix&> H1, boost::optional<Matrix&> H2,
+      boost::optional<Matrix&> H3) const {
 
 #ifdef STEREOCAMERA_CHAIN_RULE
     const Point3 q = leftCamPose_.transform_to(point, H1, H2);
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 70917b2c4..1e23bf826 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -114,21 +114,18 @@ public:
 
   /*
    * project 3D point and compute optional derivatives
+   * @param H1 derivative with respect to pose
+   * @param H2 derivative with respect to point
+   * @param H3 IGNORED (for calibration)
    */
   StereoPoint2 project(const Point3& point,
       boost::optional<Matrix&> H1 = boost::none,
-      boost::optional<Matrix&> H2 = boost::none) const;
+      boost::optional<Matrix&> H2 = boost::none,
+      boost::optional<Matrix&> H3 = boost::none) const;
 
-  /*
-   * to accomodate tsam's assumption that K is estimated, too
+  /**
+   *
    */
-  StereoPoint2 project(const Point3& point,
-      boost::optional<Matrix&> H1,
-      boost::optional<Matrix&> H1_k,
-      boost::optional<Matrix&> H2) const {
-    return project(point, H1, H2);
-  }
-
   Point3 backproject(const StereoPoint2& z) const {
     Vector measured = z.vector();
     double Z = K_->baseline()*K_->fx()/(measured[0]-measured[1]);