diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index 9c410ac25..bf2056cc8 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -110,7 +110,7 @@ struct LieGroup {
   Class retract(const TangentVector& v, //
       ChartJacobian H1, ChartJacobian H2 = boost::none) const {
     Jacobian D_g_v;
-    Class g = Class::ChartAtOrigin::Retract(v,D_g_v);
+    Class g = Class::ChartAtOrigin::Retract(v,H2 ? &D_g_v : 0);
     Class h = compose(g,H1,H2);
     if (H2) *H2 = (*H2) * D_g_v;
     return h;
@@ -120,7 +120,7 @@ struct LieGroup {
       ChartJacobian H1, ChartJacobian H2 = boost::none) const {
     Class h = between(g,H1,H2);
     Jacobian D_v_h;
-    TangentVector v = Class::ChartAtOrigin::Local(h, D_v_h);
+    TangentVector v = Class::ChartAtOrigin::Local(h, (H1 || H2) ? &D_v_h : 0);
     if (H1) *H1 = D_v_h * (*H1);
     if (H2) *H2 = D_v_h * (*H2);
     return v;