diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 1700b4960..9b881dc78 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -397,16 +397,20 @@ public:
   double range(
       const PinholeCamera<CalibrationB>& camera, //
       OptionalJacobian<1, DimC> Dcamera = boost::none,
-      OptionalJacobian<1, 6 + traits::dimension<CalibrationB>::value> Dother =
+//      OptionalJacobian<1, 6 + traits::dimension<CalibrationB>::value> Dother =
+       boost::optional<Matrix&> Dother =
           boost::none) const {
-    Matrix16 Dpose_, Dpose2;
-    double result = pose_.range(camera.pose(), Dcamera ? &Dpose_ : 0,
-        Dother ? &Dpose2 : 0);
-    if (Dcamera)
-      *Dcamera << Dpose_, Eigen::Matrix<double, 1, DimK>::Zero();
+    Matrix16 Dcamera_, Dother_;
+    double result = pose_.range(camera.pose(), Dcamera ? &Dcamera_ : 0,
+        Dother ? &Dother_ : 0);
+    if (Dcamera) {
+       Dcamera->resize(1, 6 + DimK);
+      *Dcamera << Dcamera_, Eigen::Matrix<double, 1, DimK>::Zero();
+    }
     if (Dother) {
+      Dother->resize(1, 6+traits::dimension<CalibrationB>::value);
       Dother->setZero();
-      Dother->block(0, 0, 1, 6) = Dpose2;
+      Dother->block(0, 0, 1, 6) = Dother_;
     }
     return result;
   }
diff --git a/gtsam/geometry/tests/testPinholeCamera.cpp b/gtsam/geometry/tests/testPinholeCamera.cpp
index 1cfb0ba25..6cb84ec85 100644
--- a/gtsam/geometry/tests/testPinholeCamera.cpp
+++ b/gtsam/geometry/tests/testPinholeCamera.cpp
@@ -229,9 +229,8 @@ static double range0(const Camera& camera, const Point3& point) {
 }
 
 /* ************************************************************************* */
-typedef Eigen::Matrix<double,1,11> Matrix1_11;
 TEST( PinholeCamera, range0) {
-  Matrix1_11 D1; Matrix13 D2;
+  Matrix D1; Matrix D2;
   double result = camera.range(point1, D1, D2);
   Matrix Hexpected1 = numericalDerivative21(range0, camera, point1);
   Matrix Hexpected2 = numericalDerivative22(range0, camera, point1);
@@ -248,7 +247,7 @@ static double range1(const Camera& camera, const Pose3& pose) {
 
 /* ************************************************************************* */
 TEST( PinholeCamera, range1) {
-  Matrix1_11 D1; Matrix16 D2;
+  Matrix D1; Matrix D2;
   double result = camera.range(pose1, D1, D2);
   Matrix Hexpected1 = numericalDerivative21(range1, camera, pose1);
   Matrix Hexpected2 = numericalDerivative22(range1, camera, pose1);
@@ -267,7 +266,7 @@ static double range2(const Camera& camera, const Camera2& camera2) {
 
 /* ************************************************************************* */
 TEST( PinholeCamera, range2) {
-  Matrix1_11 D1; Matrix19 D2;
+  Matrix D1; Matrix D2;
   double result = camera.range<Cal3Bundler>(camera2, D1, D2);
   Matrix Hexpected1 = numericalDerivative21(range2, camera, camera2);
   Matrix Hexpected2 = numericalDerivative22(range2, camera, camera2);
@@ -284,7 +283,7 @@ static double range3(const Camera& camera, const CalibratedCamera& camera3) {
 
 /* ************************************************************************* */
 TEST( PinholeCamera, range3) {
-  Matrix1_11 D1; Matrix16 D2;
+  Matrix D1; Matrix D2;
   double result = camera.range(camera3, D1, D2);
   Matrix Hexpected1 = numericalDerivative21(range3, camera, camera3);
   Matrix Hexpected2 = numericalDerivative22(range3, camera, camera3);