diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h
index 61d8a30d2..ad6053234 100644
--- a/gtsam/geometry/OrientedPlane3.h
+++ b/gtsam/geometry/OrientedPlane3.h
@@ -114,6 +114,10 @@ public:
    */
   Vector3 error(const OrientedPlane3& plane) const;
 
+  static Vector3 Error(const OrientedPlane3& plane1, const OrientedPlane3& plane2) {
+    return plane1.error(plane2);
+  }
+
   /** Computes the error between the two planes, with derivatives.
    *  This uses Unit3::errorVector, as opposed to the other .error() in this class, which uses
    *  Unit3::localCoordinates. This one has correct derivatives.
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index 1f56adc45..d1f2329c4 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/OrientedPlane3.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 
@@ -48,10 +49,27 @@ public:
   virtual Vector evaluateError(const Pose3& pose, const OrientedPlane3& plane,
       boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =
           boost::none) const {
-    OrientedPlane3 predicted_plane = OrientedPlane3::Transform(plane, pose, H1,
-        H2);
     Vector err(3);
-    err << predicted_plane.error(measured_p_);
+
+    if (H1 || H2) {
+      Matrix H1_1, H2_1;
+      OrientedPlane3 predicted_plane = OrientedPlane3::Transform(plane, pose, H1_1, H2_1);
+      err << predicted_plane.error(measured_p_);
+      // Numerically calculate the derivative since this function doesn't provide one.
+      auto f = boost::bind(&OrientedPlane3::Error, _1, _2);
+      Matrix H1_2 = numericalDerivative21<Vector3, OrientedPlane3, OrientedPlane3>(f, predicted_plane, measured_p_);
+
+      // Apply the chain rule to calculate the derivatives.
+      if (H1) {
+        *H1 = H1_2 * H1_1;
+      }
+      if (H2) {
+        *H2 = H1_2 * H2_1;
+      }
+    } else {
+      OrientedPlane3 predicted_plane = OrientedPlane3::Transform(plane, pose, H1, H2);
+      err << predicted_plane.error(measured_p_);
+    }
     return (err);
   }
   ;
diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
index 36ae57201..65491648f 100644
--- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp
+++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
@@ -83,7 +83,7 @@ TEST (OrientedPlane3Factor, lm_rotation_error) {
   // Tests one pose, two measurements of the landmark that differ in angle only.
   // Normal along -x, 3m away
   Symbol lm_sym('p', 0);
-  OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
+  OrientedPlane3 test_lm0(-1.0/sqrt(1.01), 0.1/sqrt(1.01), 0.0, 3.0);
 
   ISAM2 isam2;
   Values new_values;
@@ -153,8 +153,8 @@ TEST( OrientedPlane3Factor, Derivatives ) {
     factor.evaluateError(poseLin, pLin, actualH1, actualH2);
 
     // Verify we get the expected error
-    EXPECT(assert_equal(numericalH1, actualH1, 1e-8));
-    EXPECT(assert_equal(numericalH2, actualH2, 1e-8));
+    EXPECT(assert_equal(numericalH1, actualH1, 1e-7));
+    EXPECT(assert_equal(numericalH2, actualH2, 1e-7));
   }
 }