diff --git a/gtsam/sfm/TransferFactor.h b/gtsam/sfm/TransferFactor.h
index 43142e762..cec7a445e 100644
--- a/gtsam/sfm/TransferFactor.h
+++ b/gtsam/sfm/TransferFactor.h
@@ -22,13 +22,12 @@
 namespace gtsam {
 
 template <typename F>
-struct TransferFactor {
+struct TripletError {
   Point2 p0, p1, p2;
 
   /// vector of errors returns 6D vector
   Vector evaluateError(const F& F01, const F& F12, const F& F20,  //
                        Matrix* H01, Matrix* H12, Matrix* H20) const {
-    Vector error(6);
     std::function<Vector6(F, F, F)> fn = [&](const F& F01, const F& F12,
                                              const F& F20) {
       Vector6 error;
@@ -45,4 +44,23 @@ struct TransferFactor {
   }
 };
 
+template <typename F>
+struct TransferFactor {
+  Point2 p0, p1, p2;
+
+  /// vector of errors returns 2D vector
+  Vector evaluateError(const F& F12, const F& F20,  //
+                       Matrix* H12, Matrix* H20) const {
+    std::function<Vector2(F, F)> fn = [&](const F& F12, const F& F20) {
+      Vector2 error;
+      error <<  //
+          F::transfer(F20.matrix(), p0, F12.matrix().transpose(), p1) - p2;
+      return error;
+    };
+    if (H12) *H12 = numericalDerivative21<Vector2, F, F>(fn, F12, F20);
+    if (H20) *H20 = numericalDerivative22<Vector2, F, F>(fn, F12, F20);
+    return fn(F12, F20);
+  }
+};
+
 }  // namespace gtsam
diff --git a/gtsam/sfm/tests/testTransferFactor.cpp b/gtsam/sfm/tests/testTransferFactor.cpp
index 3c3e89693..44b03ad5d 100644
--- a/gtsam/sfm/tests/testTransferFactor.cpp
+++ b/gtsam/sfm/tests/testTransferFactor.cpp
@@ -70,18 +70,25 @@ TEST(TransferFactor, Jacobians) {
   }
 
   // Create a TransferFactor
-  TransferFactor<SimpleFundamentalMatrix> factor{p[0], p[1], p[2]};
+  TripletError<SimpleFundamentalMatrix> error{p[0], p[1], p[2]};
   Matrix H01, H12, H20;
-  Vector error = factor.evaluateError(triplet.F01, triplet.F12, triplet.F20,
-                                      &H01, &H12, &H20);
-  std::cout << "Error: " << error << std::endl;
+  Vector e = error.evaluateError(triplet.F01, triplet.F12, triplet.F20, &H01,
+                                 &H12, &H20);
+  std::cout << "Error: " << e << std::endl;
   std::cout << H01 << std::endl << std::endl;
   std::cout << H12 << std::endl << std::endl;
   std::cout << H20 << std::endl;
 
+  // Create a TransferFactor
+  TransferFactor<SimpleFundamentalMatrix> factor{p[0], p[1], p[2]};
+  Matrix H0, H1;
+  Vector e2 = factor.evaluateError(triplet.F12, triplet.F20, &H0, &H1);
+  std::cout << "Error: " << e2 << std::endl;
+  std::cout << H0 << std::endl << std::endl;
+  std::cout << H1 << std::endl << std::endl;
+
   // Check Jacobians
   Values values;
-  values.insert(0, triplet.F01);
   values.insert(1, triplet.F12);
   values.insert(2, triplet.F20);
   // EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-7);