diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 71d30b6d8..c5aa4b810 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -1317,7 +1317,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
   // Two different cameras
   Pose3 pose2 = level_pose
       * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
-  Pose3 pose3 = level_pose
+  Pose3 pose3 = pose2
       * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
   Camera cam2(pose2, sharedBundlerK);
   Camera cam3(pose3, sharedBundlerK);
@@ -1385,7 +1385,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
   values.insert(x1, cam1);
   values.insert(x2, cam2);
   // initialize third pose with some noise, we expect it to move back to original pose_above
-  values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK));
+  values.insert(x3, Camera(pose3 * noise_pose, sharedBundlerK));
   EXPECT(
       assert_equal(
           Pose3(