diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp
index 8765fee76..c2c0b7d79 100644
--- a/gtsam/geometry/Cal3_S2.cpp
+++ b/gtsam/geometry/Cal3_S2.cpp
@@ -95,15 +95,15 @@ Point2 Cal3_S2::calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal,
     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_;
+    Point2 point(inv_fx * (delta_u - s_ * inv_fy * delta_v),
+                  inv_fy * delta_v);
     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 * point.x(), inv_fx * s_ * inv_fy * inv_fy * delta_v,  -inv_fx * point.y(),
             -inv_fx,  inv_fx * s_ * inv_fy,
-            0, -inv_fy * inv_fy * delta_v, 0,  0, -inv_fy;
+            0, -inv_fy * point.y(), 0,  0, -inv_fy;
     if(Dp)
         *Dp << inv_fx, -inv_fx * s_ * inv_fy, 0, inv_fy;
-    return Point2(inv_fx * (delta_u - s_ * inv_fy * delta_v),
-        inv_fy * delta_v);
+    return point;
 }
 
 /* ************************************************************************* */