diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index aac0d624d..723ffc67e 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -81,14 +81,23 @@ namespace gtsam {
     /// return pose
     inline const Pose3& pose() const {  return pose_; }
 
-    /// compose the poses
-    inline const CalibratedCamera compose(const CalibratedCamera &c) const {
-      return CalibratedCamera( pose_ * c.pose() ) ;
+    /// compose the two camera poses: TODO Frank says this might not make sense
+    inline const CalibratedCamera compose(const CalibratedCamera &c,
+        boost::optional<Matrix&> H1=boost::none,
+        boost::optional<Matrix&> H2=boost::none) const {
+      return CalibratedCamera( pose_.compose(c.pose(), H1, H2) );
     }
 
-    /// invert the camera's pose
-    inline const CalibratedCamera inverse() const {
-      return CalibratedCamera( pose_.inverse() ) ;
+    /// between the two camera poses: TODO Frank says this might not make sense
+    inline const CalibratedCamera between(const CalibratedCamera& c,
+        boost::optional<Matrix&> H1=boost::none,
+        boost::optional<Matrix&> H2=boost::none) const {
+      return CalibratedCamera( pose_.between(c.pose(), H1, H2) );
+    }
+
+    /// invert the camera pose: TODO Frank says this might not make sense
+    inline const CalibratedCamera inverse(boost::optional<Matrix&> H1=boost::none) const {
+      return CalibratedCamera( pose_.inverse(H1) );
     }
 
     /**
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index d20674ea4..39b5b679e 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -154,13 +154,55 @@ namespace gtsam {
     /// @{
 
     /// compose two cameras: TODO Frank says this might not make sense
-    inline const PinholeCamera compose(const Pose3 &c) const {
-      return PinholeCamera( pose_ * c, K_ ) ;
+    inline const PinholeCamera compose(const PinholeCamera &c,
+        boost::optional<Matrix&> H1=boost::none,
+        boost::optional<Matrix&> H2=boost::none) const {
+      PinholeCamera result( pose_.compose(c.pose(), H1, H2), K_ );
+      if(H1) {
+        H1->conservativeResize(Dim(), Dim());
+        H1->topRightCorner(Pose3::Dim(), Calibration::Dim()) = zeros(Pose3::Dim(),Calibration::Dim());
+        H1->bottomRows(Calibration::Dim()) = zeros(Calibration::Dim(), Dim());
+      }
+      if(H2) {
+        H2->conservativeResize(Dim(), Dim());
+        H2->topRightCorner(Pose3::Dim(), Calibration::Dim()) = zeros(Pose3::Dim(),Calibration::Dim());
+        H2->bottomRows(Calibration::Dim()) = zeros(Calibration::Dim(), Dim());
+      }
+      return result;
+    }
+
+    /// between two cameras: TODO Frank says this might not make sense
+    inline const PinholeCamera between(const PinholeCamera& c,
+        boost::optional<Matrix&> H1=boost::none,
+        boost::optional<Matrix&> H2=boost::none) const {
+      PinholeCamera result( pose_.between(c.pose(), H1, H2), K_ );
+      if(H1) {
+        H1->conservativeResize(Dim(), Dim());
+        H1->topRightCorner(Pose3::Dim(), Calibration::Dim()) = zeros(Pose3::Dim(),Calibration::Dim());
+        H1->bottomRows(Calibration::Dim()) = zeros(Calibration::Dim(), Dim());
+      }
+      if(H2) {
+        H2->conservativeResize(Dim(), Dim());
+        H2->topRightCorner(Pose3::Dim(), Calibration::Dim()) = zeros(Pose3::Dim(),Calibration::Dim());
+        H2->bottomRows(Calibration::Dim()) = zeros(Calibration::Dim(), Dim());
+      }
+      return result;
+    }
+
+    /// inverse camera: TODO Frank says this might not make sense
+    inline const PinholeCamera inverse(boost::optional<Matrix&> H1=boost::none) const {
+      PinholeCamera result( pose_.inverse(H1), K_ );
+      if(H1) {
+        H1->conservativeResize(Dim(), Dim());
+        H1->topRightCorner(Pose3::Dim(), Calibration::Dim()) = zeros(Pose3::Dim(),Calibration::Dim());
+        H1->bottomRows(Calibration::Dim()) = zeros(Calibration::Dim(), Dim());
+      }
+      return result;
     }
 
     /// compose two cameras: TODO Frank says this might not make sense
-    inline const PinholeCamera inverse() const {
-      return PinholeCamera( pose_.inverse(), K_ ) ;
+    inline const PinholeCamera compose(const Pose3 &c) const {
+      return PinholeCamera( pose_.compose(c), K_ );
     }
 
     /// @}