diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index bc9cd9d6c..3587f7b71 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -90,13 +90,8 @@ namespace gtsam {
     Vector evaluateError(const T& p1, const T& p2,
         boost::optional<Matrix&> H1 = boost::none,boost::optional<Matrix&> H2 =
             boost::none) const {
-
       T hx = p1.between(p2, H1, H2); // h(x)
       DefaultChart<T> chart;
-      //T hx = chart.local(p2, p1);
-      //if(H1) (*H1) = -eye(chart.getDimension(p1));
-      //if(H2) (*H2) = eye(chart.getDimension(p2));
-
       // manifold equivalent of h(x)-z -> log(z,h(x))
       return chart.local(measured_, hx);
     }