diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp
index c2c0b7d79..c131d46f7 100644
--- a/gtsam/geometry/Cal3_S2.cpp
+++ b/gtsam/geometry/Cal3_S2.cpp
@@ -83,26 +83,20 @@ Point2 Cal3_S2::uncalibrate(const Point2& p, OptionalJacobian<2, 5> Dcal,
 }
 
 /* ************************************************************************* */
-Point2 Cal3_S2::calibrate(const Point2& p) const {
-  const double u = p.x(), v = p.y();
-  return Point2((1 / fx_) * (u - u0_ - (s_ / fy_) * (v - v0_)),
-      (1 / fy_) * (v - v0_));
-}
-
-/* ************************************************************************* */
-Point2 Cal3_S2::calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal,
+Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal,
                            OptionalJacobian<2,2> Dp) const {
     const double u = p.x(), v = p.y();
     double delta_u = u - u0_, delta_v = v - v0_;
     double inv_fx = 1/ fx_, inv_fy = 1/fy_;
-    Point2 point(inv_fx * (delta_u - s_ * inv_fy * delta_v),
-                  inv_fy * delta_v);
+    double inv_fy_delta_v = inv_fy * delta_v, inv_fx_s_inv_fy = inv_fx * s_ * inv_fy;
+    Point2 point(inv_fx * (delta_u - s_ * inv_fy_delta_v),
+                  inv_fy_delta_v);
     if(Dcal)
-       *Dcal << - inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy * delta_v,  -inv_fx * point.y(),
-            -inv_fx,  inv_fx * s_ * inv_fy,
+       *Dcal << - inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy_delta_v,  -inv_fx * point.y(),
+            -inv_fx,  inv_fx_s_inv_fy,
             0, -inv_fy * point.y(), 0,  0, -inv_fy;
     if(Dp)
-        *Dp << inv_fx, -inv_fx * s_ * inv_fy, 0, inv_fy;
+        *Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy;
     return point;
 }
 
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 9347c563c..4e62ca7e9 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -153,13 +153,6 @@ public:
   Point2 uncalibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none,
       OptionalJacobian<2,2> Dp = boost::none) const;
 
-  /**
-   * convert image coordinates uv to intrinsic coordinates xy
-   * @param p point in image coordinates
-   * @return point in intrinsic coordinates
-   */
-  Point2 calibrate(const Point2& p) const;
-
   /**
    * convert image coordinates uv to intrinsic coordinates xy
    * @param p point in image coordinates
@@ -167,7 +160,7 @@ public:
    * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
    * @return point in intrinsic coordinates
    */
-  Point2 calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none,
+  Point2 calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none,
                    OptionalJacobian<2,2> Dp = boost::none) const;
 
   /**