diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index defdbe494..b1bd20c4a 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -20,6 +20,7 @@
 
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/CalibratedCamera.h> // for Cheirality exception
+#include <gtsam/base/Testable.h>
 #include <vector>
 
 namespace gtsam {
@@ -53,17 +54,16 @@ public:
   CameraSet() {
   }
 
-  /** Virtual destructor */
-  virtual ~CameraSet() {
-  }
-
-  /**
-   * Add a new camera
-   */
+  /// Add a new camera
   void add(const CAMERA& camera) {
     cameras_.push_back(camera);
   }
 
+  /// Retrieve ith camera
+  const CAMERA& operator[](size_t i) const {
+    return cameras_[i];
+  }
+
   /**
    * print
    * @param s optional string naming the factor
@@ -72,7 +72,7 @@ public:
   void print(const std::string& s = "") const {
     std::cout << s << "CameraSet, cameras = \n";
     for (size_t k = 0; k < cameras_.size(); ++k)
-      cameras_[k]->print();
+      cameras_[k].print();
   }
 
   /// equals
@@ -90,13 +90,17 @@ public:
    *  project, with derivatives in this, point, and calibration
    * throws CheiralityException
    */
-  std::vector<Z> project(const Point3& point, boost::optional<Matrix&> F=boost::none,
-      boost::optional<Matrix&> E=boost::none, boost::optional<Matrix&> H=boost::none) const {
+  std::vector<Z> project(const Point3& point, boost::optional<Matrix&> F =
+      boost::none, boost::optional<Matrix&> E = boost::none,
+      boost::optional<Matrix&> H = boost::none) const {
 
     size_t nrCameras = cameras_.size();
-    if (F) F->resize(ZDim * nrCameras, 6);
-    if (E) E->resize(ZDim * nrCameras, 3);
-    if (H && Dim>6) H->resize(ZDim * nrCameras, Dim - 6);
+    if (F)
+      F->resize(ZDim * nrCameras, 6);
+    if (E)
+      E->resize(ZDim * nrCameras, 3);
+    if (H && Dim > 6)
+      H->resize(ZDim * nrCameras, Dim - 6);
     std::vector<Z> z(nrCameras);
 
     for (size_t i = 0; i < cameras_.size(); i++) {
@@ -104,9 +108,12 @@ public:
       Eigen::Matrix<double, ZDim, 3> Ei;
       Eigen::Matrix<double, ZDim, Dim - 6> Hi;
       z[i] = cameras_[i].project(point, F ? &Fi : 0, E ? &Ei : 0, H ? &Hi : 0);
-      if (F) F->block<ZDim, 6>(ZDim * i, 0) = Fi;
-      if (E) E->block<ZDim, 3>(ZDim * i, 0) = Ei;
-      if (H) H->block<ZDim, Dim - 6>(ZDim * i, 0) = Hi;
+      if (F)
+        F->block<ZDim, 6>(ZDim * i, 0) = Fi;
+      if (E)
+        E->block<ZDim, 3>(ZDim * i, 0) = Ei;
+      if (H)
+        H->block<ZDim, Dim - 6>(ZDim * i, 0) = Hi;
     }
     return z;
   }
@@ -124,4 +131,12 @@ private:
 template<class CAMERA>
 const int CameraSet<CAMERA>::ZDim;
 
+template<class CAMERA>
+struct traits<CameraSet<CAMERA> > : public Testable<CameraSet<CAMERA> > {
+};
+
+template<class CAMERA>
+struct traits<const CameraSet<CAMERA> > : public Testable<CameraSet<CAMERA> > {
+};
+
 } // \ namespace gtsam
diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp
index c1ff5476f..c24ba39b1 100644
--- a/gtsam/geometry/tests/testCameraSet.cpp
+++ b/gtsam/geometry/tests/testCameraSet.cpp
@@ -37,6 +37,10 @@ TEST(CameraSet, Pinhole) {
   set.add(camera);
   set.add(camera);
   Point3 p(0, 0, 1);
+  CHECK(assert_equal(set,set));
+  CameraSet<Camera> set2 = set;
+  set2.add(camera);
+  CHECK(!assert_equal(set,set2));
 
   // Check measurements
   Point2 expected;