diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp
index aa06a2e29..668b69a55 100644
--- a/gtsam/geometry/tests/testCal3_S2.cpp
+++ b/gtsam/geometry/tests/testCal3_S2.cpp
@@ -26,6 +26,8 @@ GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2)
 
 static Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2);
 static Point2 p(1, -2);
+static Point2 p_uv(1320.3, 1740);
+static Point2 p_xy(2, 3);
 
 /* ************************************************************************* */
 TEST( Cal3_S2, easy_constructor)
@@ -73,6 +75,33 @@ TEST( Cal3_S2, Duncalibrate2)
   CHECK(assert_equal(numerical,computed,1e-9));
 }
 
+Point2 calibrate_(const Cal3_S2& k,  const Point2& pt) {return k.calibrate(pt); }
+/* ************************************************************************* */
+TEST(Cal3_S2, Dcalibrate1)
+{
+    Matrix computed;
+    Point2 expected = K.calibrate(p_uv, computed, boost::none);
+    Matrix numerical = numericalDerivative21(calibrate_, K, p);
+    CHECK(assert_equal(numerical, computed, 1e-8));
+    CHECK(assert_equal(expected, p_xy, 1e-8));
+}
+
+/* ************************************************************************* */
+TEST(Cal3_S2, Dcalibrate1)
+{
+    Matrix computed;
+    Point2 expected = K.calibrate(p_uv, boost::none, computed);
+    Matrix numerical = numericalDerivative22(calibrate_, K, p);
+    CHECK(assert_equal(numerical, computed, 1e-8));
+    CHECK(assert_equal(expected, p_xy, 1e-8));
+}
+
+/* ************************************************************************* */
+TEST(Cal3_S2, Dcalibrate2)
+{
+
+}
+
 /* ************************************************************************* */
 TEST( Cal3_S2, assert_equal)
 {