diff --git a/gtsam/geometry/StereoCamera.cpp b/gtsam/geometry/StereoCamera.cpp
index 1a7d7a6db..9f8d58d4a 100644
--- a/gtsam/geometry/StereoCamera.cpp
+++ b/gtsam/geometry/StereoCamera.cpp
@@ -97,9 +97,9 @@ namespace gtsam {
 
   /* ************************************************************************* */
   Point3 StereoCamera::backproject2(const StereoPoint2& z, OptionalJacobian<3, 6> H1,
-                                    OptionalJacobian<3, 3> H2) {
+                                    OptionalJacobian<3, 3> H2)  const {
     const Cal3_S2Stereo& K = *K_;
-    const double fx = K.fx(), fy = K.fy(), cx = K.cx(), cy = K.cy(), b = K.baseline();
+    const double fx = K.fx(), fy = K.fy(), cx = K.px(), cy = K.py(), b = K.baseline();
 
     Vector3 measured = z.vector();   // u_L, u_R, v
     double d = measured[0] - measured[1]; // disparity
@@ -110,7 +110,7 @@ namespace gtsam {
 
     if(H1 || H2) {
       if(H1) {
-        // do something here, w.r.t pose
+
       }
       if(H2) {
         double d_2 = d*d;
diff --git a/gtsam/geometry/tests/testStereoCamera.cpp b/gtsam/geometry/tests/testStereoCamera.cpp
index 6d6972215..00329cb3c 100644
--- a/gtsam/geometry/tests/testStereoCamera.cpp
+++ b/gtsam/geometry/tests/testStereoCamera.cpp
@@ -149,8 +149,11 @@ TEST( StereoCamera, backproject2_case1)
   Point3 actual_point = stereoCam2.backproject2(stereo_point, actual_jacobian_1, actual_jacobian_2);
   CHECK(assert_equal(expected_point, actual_point, 1e-8));
 
-  Matrix expected_jacobian = numericalDerivative32(backproject3, Pose3(), stereo_point, *K2);
-  CHECK(assert_equal(expected_jacobian, actual_jacobian_1, acutal_jacobian_2));
+  Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, Pose3(), stereo_point, *K2);
+  CHECK(assert_equal(expected_jacobian_to_pose, actual_jacobian_1, 1e-3));
+
+  Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, Pose3(), stereo_point, *K2);
+  CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-3));
 }
 
 TEST( StereoCamera, backproject2_case2)
@@ -163,9 +166,17 @@ TEST( StereoCamera, backproject2_case2)
   StereoCamera camera(Pose3(R,t), K);
   StereoPoint2 z(184.812, 129.068, 714.768);
 
-  Point3 l = camera.backproject2(z);
+  Matrix actual_jacobian_1, actual_jacobian_2;
+  Point3 l = camera.backproject2(z, actual_jacobian_1, actual_jacobian_2);
+
   StereoPoint2 actual = camera.project(l);
   CHECK(assert_equal(z, actual, 1e-3));
+
+  Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, camera, z, *K);
+  CHECK(assert_equal(expected_jacobian_to_pose, actual_jacobian_1, 1e-3));
+
+  Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, camera, z, *K);
+  CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-3));
 }
 
 /* ************************************************************************* */