diff --git a/gtsam/geometry/Cal3Fisheye.cpp b/gtsam/geometry/Cal3Fisheye.cpp
index e95165c9a..ee2e66080 100644
--- a/gtsam/geometry/Cal3Fisheye.cpp
+++ b/gtsam/geometry/Cal3Fisheye.cpp
@@ -32,7 +32,7 @@ Vector9 Cal3Fisheye::vector() const {
 }
 
 /* ************************************************************************* */
-double Cal3Fisheye::Scaling(double r) {
+double Cal3Fisheye::Scaling(double r, double zi) {
   static constexpr double threshold = 1e-8;
   if (r > threshold || r < -threshold) {
     return atan(r) / r;
@@ -48,12 +48,12 @@ Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1,
                                 OptionalJacobian<2, 2> H2) const {
   const double xi = p.x(), yi = p.y(), zi = 1;
   const double r2 = xi * xi + yi * yi, r = sqrt(r2);
-  const double t = atan(r);
+  const double t = atan2(r, zi);
   const double t2 = t * t, t4 = t2 * t2, t6 = t2 * t4, t8 = t4 * t4;
   Vector5 K, T;
   K << 1, k1_, k2_, k3_, k4_;
   T << 1, t2, t4, t6, t8;
-  const double scaling = Scaling(r);
+  const double scaling = Scaling(r, zi);
   const double s = scaling * K.dot(T);
   const double xd = s * xi, yd = s * yi;
   Point2 uv(fx_ * xd + s_ * yd + u0_, fy_ * yd + v0_);
@@ -81,18 +81,18 @@ Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1,
     } else {
       const double dtd_dt =
           1 + 3 * k1_ * t2 + 5 * k2_ * t4 + 7 * k3_ * t6 + 9 * k4_ * t8;
-      const double R2 = r2 + zi*zi
+      const double R2 = r2 + zi*zi;
       const double dt_dr = zi / R2;
       const double rinv = 1 / r;
       const double dr_dxi = xi * rinv;
       const double dr_dyi = yi * rinv;
-      const double dtd_dr = dtd_dt * dt_dr
+      const double dtd_dr = dtd_dt * dt_dr;
       // const double dtd_dxi = dtd_dt * dt_dr * dr_dxi;
       // const double dtd_dyi = dtd_dt * dt_dr * dr_dyi;
   
-      const double c2 = dr_dxi * dr_dxi
-      const double s2 = dr_dyi * dr_dyi
-      const double cs = dr_dxi * dr_dyi
+      const double c2 = dr_dxi * dr_dxi;
+      const double s2 = dr_dyi * dr_dyi;
+      const double cs = dr_dxi * dr_dyi;
 
       // Following refactoring is numerically stable, even for unnormalized radial 
       // values by avoiding division with the square radius.