diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp
index 1b0b32ff9..afcd85124 100644
--- a/gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp
+++ b/gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp
@@ -43,11 +43,14 @@
 
 // Standard headers, added last, so we know headers above work on their own
 #include <boost/foreach.hpp>
+#include <boost/assign.hpp>
+#include <boost/assign/std/vector.hpp>
 #include <fstream>
 #include <iostream>
 
 using namespace std;
 using namespace gtsam;
+using namespace boost::assign;
 namespace NM = gtsam::noiseModel;
 
 using symbol_shorthand::X;
@@ -161,8 +164,8 @@ int main(int argc, char** argv) {
 
   // Load values from VO camera poses output
   gtsam::Values::shared_ptr loaded_values = loadPoseValues(input_dir+"camera_poses.txt");
-  graph.add(Pose3Prior(X(0),loaded_values->at<Pose3>(X(0)), prior_model));
-  graph.add(Pose3Prior(X(1),loaded_values->at<Pose3>(X(1)), prior_model));
+  graph.push_back(Pose3Prior(X(0),loaded_values->at<Pose3>(X(0)), prior_model));
+  graph.push_back(Pose3Prior(X(1),loaded_values->at<Pose3>(X(1)), prior_model));
   //graph.print("thegraph");
 
   // Read in kitti dataset
diff --git a/gtsam_unstable/slam/SmartProjectionFactor.h b/gtsam_unstable/slam/SmartProjectionFactor.h
index dca517e97..aa5f92c1d 100644
--- a/gtsam_unstable/slam/SmartProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartProjectionFactor.h
@@ -209,9 +209,9 @@ namespace gtsam {
 
         for(size_t i = 0; i < measured_.size(); i++) {
           Pose3 pose = cameraPoses.at(i);
-          std::cout << "pose " << pose << std::endl;
+//          std::cout << "pose " << pose << std::endl;
           PinholeCamera<CALIBRATION> camera(pose, *K_);
-          b.at(i) = ( camera.project(*point,Hx.at(i),Hl.at(i)) - measured_.at(i) ).vector();
+          b.at(i) = - ( camera.project(*point,Hx.at(i),Hl.at(i)) - measured_.at(i) ).vector();
           noise_-> WhitenSystem(Hx.at(i), Hl.at(i), b.at(i));
           f += b.at(i).squaredNorm();
         }
@@ -405,7 +405,7 @@ namespace gtsam {
         boost::optional<Point3> point;
         if (point_) {
         	point = point_;
-          //std::cout << "Using existing point " << *point << std::endl;
+            std::cout << "Using existing point " << *point << std::endl;
         } else {
           //std::cout << "Triangulate during error calc" << std::endl;
           point = triangulatePoint3(cameraPoses, measured_, *K_);
@@ -422,7 +422,7 @@ namespace gtsam {
             Point2 reprojectionError(camera.project(*point) - measured_.at(i));
             overallError += noise_->distance( reprojectionError.vector() );
           }
-          return std::sqrt(overallError);
+          return overallError;
         } else{ // triangulation failed: we deactivate the factor, then the error should not contribute to the overall error
           std::cout << "WARNING: Could not triangulate during error calc" << std::endl;
           return 0.0;
diff --git a/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp b/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
index a5df442f3..300a839f7 100644
--- a/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
+++ b/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
@@ -120,7 +120,7 @@ TEST( SmartProjectionFactor, EqualsWithTransform ) {
 
 /* ************************************************************************* */
 TEST( SmartProjectionFactor, noisy ){
-  cout << " ************************ MultiProjectionFactor: noisy ****************************" << endl;
+  cout << " ************************ SmartProjectionFactor: noisy ****************************" << endl;
 
   Symbol x1('X',  1);
   Symbol x2('X',  2);
@@ -291,9 +291,11 @@ TEST( SmartProjectionFactor, 3poses_1iteration_projection_factor_comparison ){
   resultWithSmartFactor.at<Pose3>(x3).print("\nSmart: Pose3 after optimization: ");
   EXPECT(assert_equal(resultWithOriginalFactor.at<Pose3>(x3),resultWithSmartFactor.at<Pose3>(x3)));
 
+  std::cout << "\n================= STARTING GN ITERATION ========================" << std::endl;
   GaussNewtonParams params2;
   params2.maxIterations = 1;
   Values resultWithOriginalFactor2;
+  params2.verbosity = NonlinearOptimizerParams::DELTA;
   GaussNewtonOptimizer optimizerForOriginalFactor2(graphWithOriginalFactor, valuesOriginalFactor, params2);
   resultWithOriginalFactor2 = optimizerForOriginalFactor2.optimize();
 
@@ -301,6 +303,7 @@ TEST( SmartProjectionFactor, 3poses_1iteration_projection_factor_comparison ){
   GaussNewtonOptimizer optimizerForSmartFactor2(graphWithSmartFactor, valuesSmartFactor, params2);
   resultWithSmartFactor2 = optimizerForSmartFactor2.optimize();
 
+  std::cout << "\n=========================================" << std::endl;
   resultWithOriginalFactor2.at<Pose3>(x3).print("Original: Pose3 after optimization (GaussNewton): ");
   resultWithSmartFactor2.at<Pose3>(x3).print("\nSmart: Pose3 after optimization (GaussNewton): ");
 
@@ -523,10 +526,6 @@ TEST( SmartProjectionFactor, Hessian ){
   // compare with hessianFactor.info(): the bottom right element is the squared sum of the reprojection errors (normalized by the covariance)
   // check that it is correctly scaled when using noiseProjection = [1/4  0; 0 1/4]
 
-
-
-
-
 }
 
 /* ************************************************************************* */