diff --git a/python/gtsam/tests/test_Cal3Unified.py b/python/gtsam/tests/test_Cal3Unified.py
index bafbacfa4..630109d66 100644
--- a/python/gtsam/tests/test_Cal3Unified.py
+++ b/python/gtsam/tests/test_Cal3Unified.py
@@ -139,6 +139,17 @@ class TestCal3Unified(GtsamTestCase):
         self.gtsamAssertEquals(z, np.zeros(2))
         self.gtsamAssertEquals(H @ H.T, 4*np.eye(2))
 
+        Dcal = np.zeros((2, 10), order='F')
+        Dp = np.zeros((2, 2), order='F')
+        camera.calibrate(img_point, Dcal, Dp)
+        
+        self.gtsamAssertEquals(Dcal, np.array(
+            [[ 0.,  0.,  0., -1.,  0.,  0.,  0.,  0.,  0.,  0.],
+            [ 0.,  0.,  0.,  0., -1.,  0.,  0.,  0.,  0.,  0.]]))
+        self.gtsamAssertEquals(Dp, np.array(
+            [[ 1., -0.],
+            [-0.,  1.]]))
+
     @unittest.skip("triangulatePoint3 currently seems to require perspective projections.")
     def test_triangulation(self):
         """Estimate spatial point from image measurements"""