diff --git a/gtsam/geometry/Cal3DS2.cpp b/gtsam/geometry/Cal3DS2.cpp
index 4f2349e1a..044d47de1 100644
--- a/gtsam/geometry/Cal3DS2.cpp
+++ b/gtsam/geometry/Cal3DS2.cpp
@@ -47,19 +47,6 @@ Vector Cal3DS2::localCoordinates(const Cal3DS2& T2) const {
   return T2.vector() - vector();
 }
 
-/* ************************************************************************* */
-Point2 Cal3DS2::uncalibrate(const Point2& p, boost::optional<Matrix&> H1,
-    boost::optional<Matrix&> H2) const {
-  Matrix29 H1f;
-  Matrix2 H2f;
-  Point2 u = Base::uncalibrate(p,H1f,H2f);
-  if (H1)
-    *H1 = H1f;
-  if (H2)
-    *H2 = H2f;
-  return u;
-}
-
 }
 /* ************************************************************************* */
 
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index a035cc29a..95524e115 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -87,21 +87,6 @@ public:
   /// Return dimensions of calibration manifold object
   static size_t Dim() { return 9; }  //TODO: make a final dimension variable
 
-  /// @}
-  /// @name Standard Interface
-  /// @{
-
-  /**
-   * convert intrinsic coordinates xy to (distorted) image coordinates uv
-   * @param p point in intrinsic coordinates
-   * @param Dcal optional 2*9 Jacobian wrpt Cal3DS2 parameters
-   * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
-   * @return point in (distorted) image coordinates
-   */
-
-  Point2 uncalibrate(const Point2& p,
-      boost::optional<Matrix&> Dcal = boost::none,
-      boost::optional<Matrix&> Dp = boost::none) const ;
 
 private:
 
diff --git a/gtsam/geometry/Cal3DS2_Base.cpp b/gtsam/geometry/Cal3DS2_Base.cpp
index 24ab80690..e4397a449 100644
--- a/gtsam/geometry/Cal3DS2_Base.cpp
+++ b/gtsam/geometry/Cal3DS2_Base.cpp
@@ -91,8 +91,8 @@ static Matrix2 D2dintrinsic(double x, double y, double rr,
 
 /* ************************************************************************* */
 Point2 Cal3DS2_Base::uncalibrate(const Point2& p,
-    boost::optional<Eigen::Matrix<double, 2, 9>&> H1,
-    boost::optional<Eigen::Matrix<double, 2, 2>&> H2) const {
+    boost::optional<Matrix29&> H1,
+    boost::optional<Matrix2&> H2) const {
 
   //  rr = x^2 + y^2;
   //  g = (1 + k(1)*rr + k(2)*rr^2);
@@ -126,6 +126,25 @@ Point2 Cal3DS2_Base::uncalibrate(const Point2& p,
   return Point2(fx_ * pnx + s_ * pny + u0_, fy_ * pny + v0_);
 }
 
+/* ************************************************************************* */
+Point2 Cal3DS2_Base::uncalibrate(const Point2& p,
+    boost::optional<Matrix&> H1,
+    boost::optional<Matrix&> H2) const {
+
+  if (H1 || H2) {
+    Matrix29 D1;
+    Matrix2 D2;
+    Point2 pu = uncalibrate(p, D1, D2);
+    if (H1)
+      *H1 = D1;
+    if (H2)
+      *H2 = D2;
+    return pu;
+
+  } else {
+    return uncalibrate(p);
+  }
+}
 
 /* ************************************************************************* */
 Point2 Cal3DS2_Base::calibrate(const Point2& pi, const double tol) const {
diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
index 349b73f2d..61c01e349 100644
--- a/gtsam/geometry/Cal3DS2_Base.h
+++ b/gtsam/geometry/Cal3DS2_Base.h
@@ -18,7 +18,6 @@
 
 #pragma once
 
-#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
 
 namespace gtsam {
@@ -114,10 +113,15 @@ public:
    * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
    * @return point in (distorted) image coordinates
    */
+
   Point2 uncalibrate(const Point2& p,
        boost::optional<Matrix29&> Dcal = boost::none,
        boost::optional<Matrix2&> Dp = boost::none) const ;
 
+  Point2 uncalibrate(const Point2& p,
+       boost::optional<Matrix&> Dcal,
+       boost::optional<Matrix&> Dp) const ;
+
   /// Convert (distorted) image coordinates uv to intrinsic coordinates xy
   Point2 calibrate(const Point2& p, const double tol=1e-5) const;