diff --git a/geometry/Point2.cpp b/geometry/Point2.cpp
index c9b225f16..288b019c5 100644
--- a/geometry/Point2.cpp
+++ b/geometry/Point2.cpp
@@ -40,7 +40,7 @@ namespace gtsam {
   /* ************************************************************************* */
   Point2 Point2::transform_from(const Point2& point,
   	boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-	  if (H1) *H1 = eye(2);
+	  if (H1) *H1 = -eye(2);
 	  if (H2) *H2 = eye(2);
 	  return point + *this;
   }
diff --git a/geometry/tests/testPoint2.cpp b/geometry/tests/testPoint2.cpp
index 13775e859..c169997bc 100644
--- a/geometry/tests/testPoint2.cpp
+++ b/geometry/tests/testPoint2.cpp
@@ -5,11 +5,14 @@
  **/
 
 #include <gtsam/CppUnitLite/TestHarness.h>
+#include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Point2.h>
 
 using namespace std;
 using namespace gtsam;
 
+const double tol = 1e-5;
+
 /* ************************************************************************* */
 TEST( Point2, expmap)
 {
@@ -41,15 +44,47 @@ TEST( Point2, norm)
 	DOUBLES_EQUAL( 5,(p2-p1).norm(),1e-6);
 }
 
+/* ************************************************************************* */
+Point2 transform_from_proxy(const Point2& pose, const Point2& point) {
+	return pose.transform_to(point);
+}
+
+/* ************************************************************************* */
+Point2 transform_to_proxy(const Point2& pose, const Point2& point) {
+	return pose.transform_to(point);
+}
+
+Point2 offset(3.0, 4.0), pt(5.0, 6.0);
+
 /* ************************************************************************* */
 TEST( Point2, transforms ) {
-	Point2 offset(3.0, 4.0);
 	EXPECT(assert_equal(Point2(5.0, 6.0), offset.transform_from(Point2(2.0, 2.0))));
 	EXPECT(assert_equal(Point2(-1.0, -2.0), offset.transform_to(Point2(2.0, 2.0))));
 	EXPECT(assert_equal(Point2(1.0, 2.0), offset.transform_to(
 			offset.transform_from(Point2(1.0, 2.0)))));
 }
 
+/* ************************************************************************* */
+TEST( Point2, transform_to_derivatives ) {
+	Matrix actH1, actH2;
+	offset.transform_to(pt, actH1, actH2);
+	Matrix numericalH1 = numericalDerivative21(transform_to_proxy, offset, pt, 1e-5);
+	Matrix numericalH2 = numericalDerivative22(transform_to_proxy, offset, pt, 1e-5);
+	EXPECT(assert_equal(numericalH1, actH1, tol));
+	EXPECT(assert_equal(numericalH2, actH2, tol));
+}
+
+/* ************************************************************************* */
+TEST( Point2, transform_from_derivatives ) {
+	Matrix actH1, actH2;
+	offset.transform_from(pt, actH1, actH2);
+	Matrix numericalH1 = numericalDerivative21(transform_from_proxy, offset, pt, 1e-5);
+	Matrix numericalH2 = numericalDerivative22(transform_from_proxy, offset, pt, 1e-5);
+	EXPECT(assert_equal(numericalH1, actH1, tol));
+	EXPECT(assert_equal(numericalH2, actH2, tol));
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */
+