diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp
index c8c0255ea..c82b36a83 100644
--- a/gtsam/geometry/Cal3_S2.cpp
+++ b/gtsam/geometry/Cal3_S2.cpp
@@ -75,10 +75,14 @@ bool Cal3_S2::equals(const Cal3_S2& K, double tol) const {
 Point2 Cal3_S2::uncalibrate(const Point2& p, boost::optional<Matrix&> Dcal,
     boost::optional<Matrix&> Dp) const {
   const double x = p.x(), y = p.y();
-  if (Dcal)
-    *Dcal = (Matrix(2, 5) << x, 0.0, y, 1.0, 0.0, 0.0, y, 0.0, 0.0, 1.0);
-  if (Dp)
-    *Dp = (Matrix(2, 2) << fx_, s_, 0.000, fy_);
+  if (Dcal) {
+    Dcal->resize(2,5);
+    *Dcal << x, 0.0, y, 1.0, 0.0, 0.0, y, 0.0, 0.0, 1.0;
+  }
+  if (Dp) {
+    Dp->resize(2,2);
+    *Dp << fx_, s_, 0.0, fy_;
+  }
   return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_);
 }
 
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 709b95181..4f81750a5 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -278,7 +278,8 @@ public:
     double d = 1.0 / P.z();
     const double u = P.x() * d, v = P.y() * d;
     if (Dpoint) {
-      *Dpoint = (Matrix(2, 3) << d, 0.0, -u * d, 0.0, d, -v * d);
+      Dpoint->resize(2,3);
+      *Dpoint << d, 0.0, -u * d, 0.0, d, -v * d;
     }
     return Point2(u, v);
   }