diff --git a/gtsam/geometry/Cal3.cpp b/gtsam/geometry/Cal3.cpp
index ec39d7eda..6210a6065 100644
--- a/gtsam/geometry/Cal3.cpp
+++ b/gtsam/geometry/Cal3.cpp
@@ -33,12 +33,11 @@ Cal3::Cal3(double fov, int w, int h)
 }
 
 /* ************************************************************************* */
-Cal3::Cal3(const std::string& path)
-    : fx_(320), fy_(320), s_(0), u0_(320), v0_(140) {
+Cal3::Cal3(const std::string& path) {
   const auto buffer = path + std::string("/calibration_info.txt");
   std::ifstream infile(buffer, std::ios::in);
 
-  if (infile) {
+  if (infile && !infile.eof()) {
     infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_;
   } else {
     throw std::runtime_error("Cal3: Unable to load the calibration");
diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
index b1a61c592..712414c82 100644
--- a/gtsam/geometry/Cal3.h
+++ b/gtsam/geometry/Cal3.h
@@ -103,7 +103,15 @@ class GTSAM_EXPORT Cal3 {
   /// @name Advanced Constructors
   /// @{
 
-  /// load calibration from location (default name is calibration_info.txt)
+  /**
+   * Load calibration parameters from `calibration_info.txt` file located in
+   * `path` directory.
+   *
+   * The contents of calibration file should be the 5 parameters in order:
+   * `fx, fy, s, u0, v0`
+   *
+   * @param path path to directory containing `calibration_info.txt`.
+   */
   Cal3(const std::string& path);
 
   /// @}