diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index acaad08d7..8ce2e49bf 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -147,6 +147,11 @@ namespace gtsam {
       return Point2(uL_, v_);
     }
 
+    /** convenient function to get a Point2 from the right image */
+    inline Point2 right(){
+      return Point2(uR_, v_);
+    }
+
   private:
 
     /// @}
diff --git a/gtsam/geometry/tests/testStereoPoint2.cpp b/gtsam/geometry/tests/testStereoPoint2.cpp
index cdd0ce742..4faeaec42 100644
--- a/gtsam/geometry/tests/testStereoPoint2.cpp
+++ b/gtsam/geometry/tests/testStereoPoint2.cpp
@@ -11,26 +11,65 @@
 
 /**
  * @file testStereoPoint2.cpp
- *
  * @brief Tests for the StereoPoint2 class
  *
  * @date Nov 4, 2011
  * @author Alex Cunningham
  */
 
+#include <gtsam/geometry/StereoPoint2.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/lieProxies.h>
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam/base/Testable.h>
-#include <gtsam/geometry/StereoPoint2.h>
-
+using namespace std;
 using namespace gtsam;
 
 GTSAM_CONCEPT_TESTABLE_INST(StereoPoint2)
 GTSAM_CONCEPT_LIE_INST(StereoPoint2)
 
-/* ************************************************************************* */
-TEST(testStereoPoint2, test) {
 
+/* ************************************************************************* */
+TEST(StereoPoint2, constructor) {
+  StereoPoint2 p1(1, 2, 3), p2 = p1;
+  EXPECT(assert_equal(p1, p2));
+}
+
+/* ************************************************************************* */
+TEST(StereoPoint2, Lie) {
+  StereoPoint2 p1(1, 2, 3), p2(4, 5, 6);
+  Matrix H1, H2;
+
+  EXPECT(assert_equal(StereoPoint2(5,7,9), p1.compose(p2)));
+
+  EXPECT(assert_equal(StereoPoint2(3,3,3), p1.between(p2)));
+
+  EXPECT(assert_equal(StereoPoint2(5,7,9), p1.retract(Vector_(3, 4.,5.,6.))));
+  EXPECT(assert_equal(Vector_(3, 3.,3.,3.), p1.localCoordinates(p2)));
+}
+
+/* ************************************************************************* */
+TEST( StereoPoint2, expmap) {
+  Vector d(3);
+  d(0) = 1;
+  d(1) = -1;
+  d(2) = -3;
+  StereoPoint2 a(4, 5, 6), b = a.retract(d), c(5, 4, 3);
+  EXPECT(assert_equal(b,c));
+}
+
+/* ************************************************************************* */
+TEST( StereoPoint2, arithmetic) {
+  EXPECT(assert_equal( StereoPoint2(5,6,7), StereoPoint2(4,5,6)+StereoPoint2(1,1,1)));
+  EXPECT(assert_equal( StereoPoint2(3,4,5), StereoPoint2(4,5,6)-StereoPoint2(1,1,1)));
+}
+
+/* ************************************************************************* */
+TEST(testStereoPoint2, left_right) {
+  StereoPoint2 p1(1,2,3);
+
+  EXPECT(assert_equal( Point2(1,3), p1.point2()));
+  EXPECT(assert_equal( Point2(2,3), p1.right()));
 }
 
 /* ************************************************************************* */