diff --git a/gtsam/geometry/Cal3Bundler.cpp b/gtsam/geometry/Cal3Bundler.cpp
index 587d0ea63..95b61c2b0 100644
--- a/gtsam/geometry/Cal3Bundler.cpp
+++ b/gtsam/geometry/Cal3Bundler.cpp
@@ -64,6 +64,45 @@ bool Cal3Bundler::equals(const Cal3Bundler& K, double tol) const {
   return true;
 }
 
+/* ************************************************************************* */
+Point2 Cal3Bundler::uncalibrate(const Point2& p) const {
+  //  r = x^2 + y^2;
+  //  g = (1 + k(1)*r + k(2)*r^2);
+  //  pi(:,i) = g * pn(:,i)
+  const double x = p.x(), y = p.y();
+  const double r = x * x + y * y;
+  const double g = 1. + (k1_ + k2_ * r) * r;
+  const double u = g * x, v = g * y;
+  return Point2(u0_ + f_ * u, v0_ + f_ * v);
+}
+
+/* ************************************************************************* */
+Point2 Cal3Bundler::uncalibrate(const Point2& p, //
+    boost::optional<Matrix23&> Dcal, boost::optional<Matrix2&> Dp) const {
+  //  r = x^2 + y^2;
+  //  g = (1 + k(1)*r + k(2)*r^2);
+  //  pi(:,i) = g * pn(:,i)
+  const double x = p.x(), y = p.y();
+  const double r = x * x + y * y;
+  const double g = 1. + (k1_ + k2_ * r) * r;
+  const double u = g * x, v = g * y;
+
+  // Derivatives make use of intermediate variables above
+  if (Dcal) {
+    double rx = r * x, ry = r * y;
+    *Dcal << u, f_ * rx, f_ * r * rx, v, f_ * ry, f_ * r * ry;
+  }
+
+  if (Dp) {
+    const double a = 2. * (k1_ + 2. * k2_ * r);
+    const double axx = a * x * x, axy = a * x * y, ayy = a * y * y;
+    *Dp << g + axx, axy, axy, g + ayy;
+    *Dp *= f_;
+  }
+
+  return Point2(u0_ + f_ * u, v0_ + f_ * v);
+}
+
 /* ************************************************************************* */
 Point2 Cal3Bundler::uncalibrate(const Point2& p, //
     boost::optional<Matrix&> Dcal, boost::optional<Matrix&> Dp) const {
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 2de5a808d..454435c66 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -106,12 +106,29 @@ public:
   /**
    * convert intrinsic coordinates xy to image coordinates uv
    * @param p point in intrinsic coordinates
+   * @return point in image coordinates
+   */
+  Point2 uncalibrate(const Point2& p) const;
+
+  /**
+   * Version of uncalibrate with fixed derivatives
+   * @param p point in intrinsic coordinates
    * @param Dcal optional 2*3 Jacobian wrpt CalBundler parameters
    * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
    * @return point in image coordinates
    */
-  Point2 uncalibrate(const Point2& p, boost::optional<Matrix&> Dcal =
-      boost::none, boost::optional<Matrix&> Dp = boost::none) const;
+  Point2 uncalibrate(const Point2& p, boost::optional<Matrix23&> Dcal,
+      boost::optional<Matrix2&> Dp) const;
+
+  /**
+   * Version of uncalibrate with dynamic derivatives
+   * @param p point in intrinsic coordinates
+   * @param Dcal optional 2*3 Jacobian wrpt CalBundler parameters
+   * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
+   * @return point in image coordinates
+   */
+  Point2 uncalibrate(const Point2& p, boost::optional<Matrix&> Dcal,
+      boost::optional<Matrix&> Dp) const;
 
   /// Conver a pixel coordinate to ideal coordinate
   Point2 calibrate(const Point2& pi, const double tol = 1e-5) const;