diff --git a/gtsam/base/testLie.h b/gtsam/base/testLie.h
index 791d5c04d..d41e3bbd9 100644
--- a/gtsam/base/testLie.h
+++ b/gtsam/base/testLie.h
@@ -38,19 +38,19 @@ void testLieGroupDerivatives(TestResult& result_, const std::string& name_,
 
   // Inverse
   OJ none;
-  EXPECT(assert_equal(t1.inverse(),T::Inverse(t1, H1)));
+  EXPECT(assert_equal<G>(t1.inverse(),T::Inverse(t1, H1)));
   EXPECT(assert_equal(numericalDerivative21<G,G,OJ>(T::Inverse, t1, none),H1));
 
-  EXPECT(assert_equal(t2.inverse(),T::Inverse(t2, H1)));
+  EXPECT(assert_equal<G>(t2.inverse(),T::Inverse(t2, H1)));
   EXPECT(assert_equal(numericalDerivative21<G,G,OJ>(T::Inverse, t2, none),H1));
 
   // Compose
-  EXPECT(assert_equal(t1 * t2,T::Compose(t1, t2, H1, H2)));
+  EXPECT(assert_equal<G>(t1 * t2,T::Compose(t1, t2, H1, H2)));
   EXPECT(assert_equal(numericalDerivative41<G,G,G,OJ,OJ>(T::Compose, t1, t2, none, none), H1));
   EXPECT(assert_equal(numericalDerivative42<G,G,G,OJ,OJ>(T::Compose, t1, t2, none, none), H2));
 
   // Between
-  EXPECT(assert_equal(t1.inverse() * t2,T::Between(t1, t2, H1, H2)));
+  EXPECT(assert_equal<G>(t1.inverse() * t2,T::Between(t1, t2, H1, H2)));
   EXPECT(assert_equal(numericalDerivative41<G,G,G,OJ,OJ>(T::Between, t1, t2, none, none), H1));
   EXPECT(assert_equal(numericalDerivative42<G,G,G,OJ,OJ>(T::Between, t1, t2, none, none), H2));
 }
@@ -67,7 +67,7 @@ void testChartDerivatives(TestResult& result_, const std::string& name_,
   // Retract
   OJ none;
   V w12 = T::Local(t1, t2);
-  EXPECT(assert_equal(t2, T::Retract(t1,w12, H1, H2)));
+  EXPECT(assert_equal<G>(t2, T::Retract(t1,w12, H1, H2)));
   EXPECT(assert_equal(numericalDerivative41<G,G,V,OJ,OJ>(T::Retract, t1, w12, none, none), H1));
   EXPECT(assert_equal(numericalDerivative42<G,G,V,OJ,OJ>(T::Retract, t1, w12, none, none), H2));
 
diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp
index 0fe699116..acbf3bcf5 100644
--- a/gtsam/geometry/tests/testSO3.cpp
+++ b/gtsam/geometry/tests/testSO3.cpp
@@ -66,16 +66,15 @@ TEST(SO3 , Invariants) {
   check_manifold_invariants(id,R1);
   check_manifold_invariants(R2,id);
   check_manifold_invariants(R2,R1);
-
 }
 
 //******************************************************************************
-//TEST(SO3 , LieGroupDerivatives) {
-//  CHECK_LIE_GROUP_DERIVATIVES(id,id);
-//  CHECK_LIE_GROUP_DERIVATIVES(id,R2);
-//  CHECK_LIE_GROUP_DERIVATIVES(R2,id);
-//  CHECK_LIE_GROUP_DERIVATIVES(R2,R1);
-//}
+TEST(SO3 , LieGroupDerivatives) {
+  CHECK_LIE_GROUP_DERIVATIVES(id,id);
+  CHECK_LIE_GROUP_DERIVATIVES(id,R2);
+  CHECK_LIE_GROUP_DERIVATIVES(R2,id);
+  CHECK_LIE_GROUP_DERIVATIVES(R2,R1);
+}
 
 //******************************************************************************
 TEST(SO3 , ChartDerivatives) {