diff --git a/geometry/Point2.cpp b/geometry/Point2.cpp
index 288b019c5..c9b225f16 100644
--- a/geometry/Point2.cpp
+++ b/geometry/Point2.cpp
@@ -40,7 +40,7 @@ namespace gtsam {
   /* ************************************************************************* */
   Point2 Point2::transform_from(const Point2& point,
   	boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-	  if (H1) *H1 = -eye(2);
+	  if (H1) *H1 = eye(2);
 	  if (H2) *H2 = eye(2);
 	  return point + *this;
   }
diff --git a/geometry/tests/testPoint2.cpp b/geometry/tests/testPoint2.cpp
index c169997bc..4c8f5b11a 100644
--- a/geometry/tests/testPoint2.cpp
+++ b/geometry/tests/testPoint2.cpp
@@ -46,7 +46,7 @@ TEST( Point2, norm)
 
 /* ************************************************************************* */
 Point2 transform_from_proxy(const Point2& pose, const Point2& point) {
-	return pose.transform_to(point);
+	return pose.transform_from(point);
 }
 
 /* ************************************************************************* */
@@ -54,7 +54,7 @@ Point2 transform_to_proxy(const Point2& pose, const Point2& point) {
 	return pose.transform_to(point);
 }
 
-Point2 offset(3.0, 4.0), pt(5.0, 6.0);
+Point2 offset(3.0, 4.0), pt(-5.0, 6.0);
 
 /* ************************************************************************* */
 TEST( Point2, transforms ) {