diff --git a/gtsam/geometry/Cal3Bundler.cpp b/gtsam/geometry/Cal3Bundler.cpp
index 837ce35e0..470c97c75 100644
--- a/gtsam/geometry/Cal3Bundler.cpp
+++ b/gtsam/geometry/Cal3Bundler.cpp
@@ -25,13 +25,13 @@ namespace gtsam {
 
 /* ************************************************************************* */
 Cal3Bundler::Cal3Bundler() :
-    f_(1), k1_(0), k2_(0), u0_(0), v0_(0) {
+    f_(1), k1_(0), k2_(0), u0_(0), v0_(0), tol_(1e-5) {
 }
 
 /* ************************************************************************* */
-Cal3Bundler::Cal3Bundler(double f, double k1, double k2, double u0, double v0) :
-    f_(f), k1_(k1), k2_(k2), u0_(u0), v0_(v0) {
-}
+Cal3Bundler::Cal3Bundler(double f, double k1, double k2, double u0, double v0,
+                         double tol)
+    : f_(f), k1_(k1), k2_(k2), u0_(u0), v0_(v0), tol_(tol) {}
 
 /* ************************************************************************* */
 Matrix3 Cal3Bundler::K() const {
@@ -94,23 +94,24 @@ Point2 Cal3Bundler::uncalibrate(const Point2& p, //
 }
 
 /* ************************************************************************* */
-Point2 Cal3Bundler::calibrate(const Point2& pi, const double tol,
+Point2 Cal3Bundler::calibrate(const Point2& pi,
                               OptionalJacobian<2, 3> Dcal,
                               OptionalJacobian<2, 2> Dp) const {
   // Copied from Cal3DS2 :-(
   // but specialized with k1,k2 non-zero only and fx=fy and s=0
-  const Point2 invKPi((pi.x() - u0_)/f_, (pi.y() - v0_)/f_);
+  double x = (pi.x() - u0_)/f_, y = (pi.y() - v0_)/f_;
+  const Point2 invKPi(x, y);
 
   // initialize by ignoring the distortion at all, might be problematic for pixels around boundary
-  Point2 pn = invKPi;
+  Point2 pn(x, y);
 
   // iterate until the uncalibrate is close to the actual pixel coordinate
   const int maxIterations = 10;
   int iteration;
   for (iteration = 0; iteration < maxIterations; ++iteration) {
-    if (distance2(uncalibrate(pn), pi) <= tol)
+    if (distance2(uncalibrate(pn), pi) <= tol_)
       break;
-    const double x = pn.x(), y = pn.y(), xx = x * x, yy = y * y;
+    const double px = pn.x(), py = pn.y(), xx = px * px, yy = py * py;
     const double rr = xx + yy;
     const double g = (1 + k1_ * rr + k2_ * rr * rr);
     pn = invKPi / g;
@@ -120,7 +121,7 @@ Point2 Cal3Bundler::calibrate(const Point2& pi, const double tol,
     throw std::runtime_error(
         "Cal3Bundler::calibrate fails to converge. need a better initialization");
 
-  const double x = invKPi.x(), y = invKPi.y();
+  x = invKPi.x(), y = invKPi.y();
   const double xx = x * x, yy = y * y;
   const double rr = xx + yy;
   const double g = (1 + k1_ * rr + k2_ * rr * rr);
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 35398303f..96765f899 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -33,6 +33,7 @@ private:
   double f_; ///< focal length
   double k1_, k2_; ///< radial distortion
   double u0_, v0_; ///< image center, not a parameter to be optimized but a constant
+  double tol_; ///< tolerance value when calibrating
 
 public:
 
@@ -51,8 +52,10 @@ public:
    *  @param k2 second radial distortion coefficient (quartic)
    *  @param u0 optional image center (default 0), considered a constant
    *  @param v0 optional image center (default 0), considered a constant
+   *  @param tol optional calibration tolerance value
    */
-  Cal3Bundler(double f, double k1, double k2, double u0 = 0, double v0 = 0);
+  Cal3Bundler(double f, double k1, double k2, double u0 = 0, double v0 = 0,
+              double tol = 1e-5);
 
   virtual ~Cal3Bundler() {}
 
@@ -125,7 +128,7 @@ public:
    * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
    * @return point in intrinsic coordinates
    */
-  Point2 calibrate(const Point2& pi, const double tol = 1e-5,
+  Point2 calibrate(const Point2& pi,
                    OptionalJacobian<2, 3> Dcal = boost::none,
                    OptionalJacobian<2, 2> Dp = boost::none) const;
 
@@ -173,6 +176,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(k2_);
     ar & BOOST_SERIALIZATION_NVP(u0_);
     ar & BOOST_SERIALIZATION_NVP(v0_);
+    ar & BOOST_SERIALIZATION_NVP(tol_);
   }
 
   /// @}