diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp
index 6a990e08e..0f3fac53e 100644
--- a/gtsam/geometry/tests/testCalibratedCamera.cpp
+++ b/gtsam/geometry/tests/testCalibratedCamera.cpp
@@ -29,6 +29,7 @@ using namespace gtsam;
 
 GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera)
 
+// Camera situated at 0.5 meters high, looking down
 static const Pose3 pose1((Matrix)(Matrix(3,3) <<
               1., 0., 0.,
               0.,-1., 0.,
@@ -97,24 +98,37 @@ TEST( CalibratedCamera, Dproject_to_camera1) {
 }
 
 /* ************************************************************************* */
-static Point2 project2(const Pose3& pose, const Point3& point) {
-  return CalibratedCamera(pose).project(point);
+static Point2 project2(const CalibratedCamera& camera, const Point3& point) {
+  return camera.project(point);
 }
 
 TEST( CalibratedCamera, Dproject_point_pose)
 {
   Matrix Dpose, Dpoint;
   Point2 result = camera.project(point1, Dpose, Dpoint);
-  Matrix numerical_pose  = numericalDerivative21(project2, pose1, point1);
-  Matrix numerical_point = numericalDerivative22(project2, pose1, point1);
+  Matrix numerical_pose  = numericalDerivative21(project2, camera, point1);
+  Matrix numerical_point = numericalDerivative22(project2, camera, point1);
   CHECK(assert_equal(Point3(-0.08, 0.08, 0.5), camera.pose().transform_to(point1)));
   CHECK(assert_equal(Point2(-.16,  .16), result));
   CHECK(assert_equal(numerical_pose,  Dpose, 1e-7));
   CHECK(assert_equal(numerical_point, Dpoint, 1e-7));
 }
 
+/* ************************************************************************* */
+// Add a test with more arbitrary rotation
+TEST( CalibratedCamera, Dproject_point_pose2)
+{
+  static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, 0.5));
+  static const CalibratedCamera camera(pose1);
+  Matrix Dpose, Dpoint;
+  camera.project(point1, Dpose, Dpoint);
+  Matrix numerical_pose  = numericalDerivative21(project2, camera, point1);
+  Matrix numerical_point = numericalDerivative22(project2, camera, point1);
+  CHECK(assert_equal(numerical_pose,  Dpose, 1e-7));
+  CHECK(assert_equal(numerical_point, Dpoint, 1e-7));
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */
 
-
diff --git a/gtsam/geometry/tests/testPinholePose.cpp b/gtsam/geometry/tests/testPinholePose.cpp
index 29765273c..c2ba412a4 100644
--- a/gtsam/geometry/tests/testPinholePose.cpp
+++ b/gtsam/geometry/tests/testPinholePose.cpp
@@ -182,6 +182,20 @@ TEST( PinholePose, Dproject2)
   EXPECT(assert_equal(Hexpected2,  Dpoint,  1e-7));
 }
 
+/* ************************************************************************* */
+// Add a test with more arbitrary rotation
+TEST( CalibratedCamera, Dproject3)
+{
+  static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, 0.5));
+  static const Camera camera(pose1);
+  Matrix Dpose, Dpoint;
+  camera.project2(point1, Dpose, Dpoint);
+  Matrix numerical_pose  = numericalDerivative21(project4, camera, point1);
+  Matrix numerical_point = numericalDerivative22(project4, camera, point1);
+  CHECK(assert_equal(numerical_pose,  Dpose, 1e-7));
+  CHECK(assert_equal(numerical_point, Dpoint, 1e-7));
+}
+
 /* ************************************************************************* */
 static double range0(const Camera& camera, const Point3& point) {
   return camera.range(point);