diff --git a/gtsam.h b/gtsam.h
index d63563028..f194995cc 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -758,10 +758,6 @@ class CalibratedCamera {
   gtsam::CalibratedCamera retract(const Vector& d) const;
   Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
 
-  // Group
-  gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const;
-  gtsam::CalibratedCamera inverse() const;
-
   // Action on Point3
   gtsam::Point2 project(const gtsam::Point3& point) const;
   static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
@@ -2195,10 +2191,14 @@ typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
 typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Point3> RangeFactorPosePoint3;
 typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Pose2> RangeFactorPose2;
 typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Pose3> RangeFactorPose3;
-typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> RangeFactorCalibratedCameraPoint;
-typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimpleCameraPoint;
-typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
-typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
+
+// Commented out by Frank Dec 2014: not poses!
+// If needed, we need a RangeFactor that takes a camera, extracts the pose
+// Should be easy with Expressions
+//typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> RangeFactorCalibratedCameraPoint;
+//typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimpleCameraPoint;
+//typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
+//typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
 
 
 #include <gtsam/slam/BearingFactor.h>