diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp
index fb4fb191e..8765fee76 100644
--- a/gtsam/geometry/Cal3_S2.cpp
+++ b/gtsam/geometry/Cal3_S2.cpp
@@ -90,14 +90,14 @@ Point2 Cal3_S2::calibrate(const Point2& p) const {
 }
 
 /* ************************************************************************* */
-Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal,
-                          OptionalJacobian<2,2> Dp) const {
+Point2 Cal3_S2::calibrate2(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_;
     if(Dcal)
-       *Dcal << - inv_fx * inv_fx * (delta_u - s_  * inv_fy * delta_v) ,
-            inv_fx * (s_ * inv_fy * inv_fy) * delta_v, -inv_fx * inv_fy * delta_v,
+       *Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) ,
+            inv_fx * (s_ * inv_fy * inv_fy) * delta_v,  -inv_fx * inv_fy * delta_v,
             -inv_fx,  inv_fx * s_ * inv_fy,
             0, -inv_fy * inv_fy * delta_v, 0,  0, -inv_fy;
     if(Dp)
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index c448cb0b1..9347c563c 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -167,7 +167,7 @@ public:
    * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
    * @return point in intrinsic coordinates
    */
-  Point2 calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none,
+  Point2 calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none,
                    OptionalJacobian<2,2> Dp = boost::none) const;
 
   /**