diff --git a/CMakeLists.txt b/CMakeLists.txt
index 44710c977..a0e9e11d4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,6 +66,7 @@ add_custom_target(uninstall
 if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
 	option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
+	option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" ON)
 endif()
 option(BUILD_SHARED_LIBS                 "Build shared gtsam library, instead of static" ON)
 option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
@@ -518,6 +519,7 @@ print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in lib
 if(GTSAM_UNSTABLE_AVAILABLE)
 	print_enabled_config(${GTSAM_BUILD_UNSTABLE}          "Build libgtsam_unstable        ")
 	print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON}   "Build GTSAM unstable Python    ")
+	print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
 endif()
 
 if(NOT MSVC AND NOT XCODE_VERSION)
diff --git a/python/gtsam/tests/test_FrobeniusFactor.py b/python/gtsam/tests/test_FrobeniusFactor.py
index f3f5354bb..e808627f5 100644
--- a/python/gtsam/tests/test_FrobeniusFactor.py
+++ b/python/gtsam/tests/test_FrobeniusFactor.py
@@ -13,7 +13,7 @@ import unittest
 
 import numpy as np
 from gtsam import (Rot3, SO3, SO4, FrobeniusBetweenFactorSO4, FrobeniusFactorSO4,
-                   FrobeniusWormholeFactor, SOn)
+                   ShonanFactor3, SOn)
 
 id = SO4()
 v1 = np.array([0, 0, 0, 0.1, 0, 0])
@@ -43,7 +43,7 @@ class TestFrobeniusFactorSO4(unittest.TestCase):
         """Test creation of a factor that calculates Shonan error."""
         R1 = SO3.Expmap(v1[3:])
         R2 = SO3.Expmap(v2[3:])
-        factor = FrobeniusWormholeFactor(1, 2, Rot3(R1.between(R2).matrix()), p=4)
+        factor = ShonanFactor3(1, 2, Rot3(R1.between(R2).matrix()), p=4)
         I4 = SOn(4)
         Q1 = I4.retract(v1)
         Q2 = I4.retract(v2)