diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp
index 0f3fac53e..b1e265266 100644
--- a/gtsam/geometry/tests/testCalibratedCamera.cpp
+++ b/gtsam/geometry/tests/testCalibratedCamera.cpp
@@ -118,7 +118,7 @@ TEST( CalibratedCamera, Dproject_point_pose)
 // 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 Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10));
   static const CalibratedCamera camera(pose1);
   Matrix Dpose, Dpoint;
   camera.project(point1, Dpose, Dpoint);
diff --git a/gtsam/geometry/tests/testPinholeCamera.cpp b/gtsam/geometry/tests/testPinholeCamera.cpp
index 11c95d822..0e610d8d6 100644
--- a/gtsam/geometry/tests/testPinholeCamera.cpp
+++ b/gtsam/geometry/tests/testPinholeCamera.cpp
@@ -238,6 +238,20 @@ TEST( PinholeCamera, Dproject2)
   EXPECT(assert_equal(Hexpected2,  Dpoint,  1e-7));
 }
 
+/* ************************************************************************* */
+// Add a test with more arbitrary rotation
+TEST( PinholeCamera, Dproject3)
+{
+  static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10));
+  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);
diff --git a/gtsam/geometry/tests/testPinholePose.cpp b/gtsam/geometry/tests/testPinholePose.cpp
index f0c364955..411273c1f 100644
--- a/gtsam/geometry/tests/testPinholePose.cpp
+++ b/gtsam/geometry/tests/testPinholePose.cpp
@@ -172,7 +172,7 @@ TEST( PinholePose, Dproject2)
 // 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 Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10));
   static const Camera camera(pose1);
   Matrix Dpose, Dpoint;
   camera.project2(point1, Dpose, Dpoint);