diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index 1e19bfc0e..48d7bf531 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -329,21 +329,15 @@ T interpolate(const T& X, const T& Y, double t,
   assert(t >= 0.0 && t <= 1.5);
   if (Hx || Hy) {
     typename traits<T>::TangentVector log_Xinv_Y;
-    typename MakeJacobian<T, T>::type Hx_tmp, Hy_tmp, H1, H2;
+    typename MakeJacobian<T, T>::type between_H_x, log_H, exp_H, compose_H_x;
 
-    T Xinv_Y = traits<T>::Between(X, Y, Hx_tmp, Hy_tmp);
-    log_Xinv_Y = traits<T>::Logmap(Xinv_Y, H1);
-    Hx_tmp = H1 * Hx_tmp;
-    Hy_tmp = H1 * Hy_tmp;
-    Xinv_Y = traits<T>::Expmap(t * log_Xinv_Y, H1);
-    Hx_tmp = t * H1 * Hx_tmp;
-    Hy_tmp = t * H1 * Hy_tmp;
-    Xinv_Y = traits<T>::Compose(X, Xinv_Y, H1, H2);
-    Hx_tmp = H1 + H2 * Hx_tmp;
-    Hy_tmp = H2 * Hy_tmp;
+    T Xinv_Y = traits<T>::Between(X, Y, between_H_x); // between_H_y = identity
+    log_Xinv_Y = traits<T>::Logmap(Xinv_Y, log_H);
+    Xinv_Y = traits<T>::Expmap(t * log_Xinv_Y, exp_H);
+    Xinv_Y = traits<T>::Compose(X, Xinv_Y, compose_H_x); // compose_H_xinv_y = identity
 
-    if(Hx) *Hx = Hx_tmp;
-    if(Hy) *Hy = Hy_tmp;
+    if(Hx) *Hx = compose_H_x + t * exp_H * log_H * between_H_x;
+    if(Hy) *Hy = t * exp_H * log_H;
     return Xinv_Y;
   }
   return traits<T>::Compose(X, traits<T>::Expmap(t * traits<T>::Logmap(traits<T>::Between(X, Y))));
diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index f0bfffb58..3fc77bb2e 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -198,8 +198,9 @@ public:
    * G = F' * F - F' * E * P * E' * F
    * g = F' * (b - E * P * E' * b)
    * In this version, we allow for the case where the keys in the Jacobian are organized
-   * differents from the keys in the output SymmetricBlockMatrix
-   * In particular: each block of the Jacobian captures 2 poses (useful for rolling shutter and extrinsic calibration)
+   * differently from the keys in the output SymmetricBlockMatrix
+   * In particular: each diagonal block of the Jacobian F captures 2 poses (useful for rolling shutter and extrinsic calibration)
+   * such that F keeps the block structure that makes the Schur complement trick fast.
    */
   template<int N, int ND, int NDD>  // N = 2 or 3 (point dimension), ND is the Jacobian block dimension, NDD is the Hessian block dimension
   static SymmetricBlockMatrix SchurComplementAndRearrangeBlocks(