diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index d87e3164c..7faf433bb 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -243,11 +243,15 @@ namespace pose3 {
 class ExpmapFunctor : public so3::DexpFunctor {
  private:
   static constexpr double one_twenty_fourth = 1.0 / 24.0;
-  static constexpr double one_one_hundred_twentieth = 1.0 / 120.0;
+
+  // Constant used in computeQ
+  double F;  // (B - 0.5) / theta2 or -1/24 for theta->0
 
  public:
   ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false)
-      : so3::DexpFunctor(omega, nearZeroApprox) {}
+      : so3::DexpFunctor(omega, nearZeroApprox) {
+        F = nearZero ? - one_twenty_fourth : (B - 0.5) / theta2;
+      }
 
   // Compute the bottom-left 3x3 block of the SE(3) Expmap derivative
   // TODO(Frank): t = applyLeftJacobian(v), it would be nice to understand
@@ -255,17 +259,8 @@ class ExpmapFunctor : public so3::DexpFunctor {
   Matrix3 computeQ(const Vector3& v) const {
     const Matrix3 V = skewSymmetric(v);
     const Matrix3 WVW = W * V * W;
-
-    if (!nearZero) {
-      // Simplified from closed-form formula in Barfoot14tro eq. (102)
-      return -0.5 * V + C * (W * V + V * W - WVW) +
-             (B - 0.5) / theta2 * (WW * V + V * WW - 3 * WVW) -
-             0.5 * (B - 3 * C) / theta2 * (WVW * W + W * WVW);
-    } else {
-      return -0.5 * V + one_sixth * (W * V + V * W - WVW) -
-             one_twenty_fourth * (WW * V + V * WW - 3 * WVW) +
-             one_one_hundred_twentieth * (WVW * W + W * WVW);
-    }
+    return -0.5 * V + C * (W * V + V * W - WVW) +
+           F * (WW * V + V * WW - 3 * WVW) - 0.5 * E * (WVW * W + W * WVW);
   }
 };
 }  // namespace pose3