diff --git a/geometry/Rot3.cpp b/geometry/Rot3.cpp
index e8cb6e8e6..b34fce069 100644
--- a/geometry/Rot3.cpp
+++ b/geometry/Rot3.cpp
@@ -199,7 +199,7 @@ namespace gtsam {
   /* ************************************************************************* */
   Rot3 Rot3::compose (const Rot3& R2,
 	boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-	  if (H1) *H1 = R2.transpose();
+		if (H1) *H1 = R2.transpose();
 	  if (H2) *H2 = I3;
 	  return *this * R2;
   }
diff --git a/geometry/Rot3.h b/geometry/Rot3.h
index 95b9a2635..45e03b37e 100644
--- a/geometry/Rot3.h
+++ b/geometry/Rot3.h
@@ -160,7 +160,7 @@ namespace gtsam {
     /** Exponential map at identity - create a rotation from canonical coordinates
      * using Rodriguez' formula
      */
-    static Rot3 Expmap(const Vector& v)  {
+		static Rot3 Expmap(const Vector& v)  {
     	if(zero(v)) return Rot3();
     	else return rodriguez(v);
     }
diff --git a/geometry/tests/testPose3.cpp b/geometry/tests/testPose3.cpp
index e80514598..8bcd0dc5e 100644
--- a/geometry/tests/testPose3.cpp
+++ b/geometry/tests/testPose3.cpp
@@ -168,10 +168,10 @@ TEST( Pose3, compose )
 	Matrix actualDcompose1, actualDcompose2;
 	T2.compose(T2, actualDcompose1, actualDcompose2);
 
-	Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T2, T2, 1e-5);
+	Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T2, T2, 1e-4);
 	CHECK(assert_equal(numericalH1,actualDcompose1,5e-5));
 
-	Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T2, T2, 1e-5);
+	Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T2, T2, 1e-4);
 	CHECK(assert_equal(numericalH2,actualDcompose2));
 }
 
@@ -186,10 +186,10 @@ TEST( Pose3, compose2 )
 	Matrix actualDcompose1, actualDcompose2;
 	T1.compose(T2, actualDcompose1, actualDcompose2);
 
-	Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T1, T2, 1e-5);
+	Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T1, T2, 1e-4);
 	CHECK(assert_equal(numericalH1,actualDcompose1,5e-5));
 
-	Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T1, T2, 1e-5);
+	Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T1, T2, 1e-4);
 	CHECK(assert_equal(numericalH2,actualDcompose2));
 }
 
@@ -457,10 +457,10 @@ TEST( Pose3, between )
 	Pose3 actual = T2.between(T3, actualDBetween1,actualDBetween2);
 	CHECK(assert_equal(expected,actual));
 
-	Matrix numericalH1 = numericalDerivative21(testing::between<Pose3> , T2, T3, 1e-5);
+	Matrix numericalH1 = numericalDerivative21(testing::between<Pose3> , T2, T3, 1e-4);
 	CHECK(assert_equal(numericalH1,actualDBetween1,5e-5));
 
-	Matrix numericalH2 = numericalDerivative22(testing::between<Pose3> , T2, T3, 1e-5);
+	Matrix numericalH2 = numericalDerivative22(testing::between<Pose3> , T2, T3, 1e-4);
 	CHECK(assert_equal(numericalH2,actualDBetween2));
 }
 
diff --git a/geometry/tests/testRot3.cpp b/geometry/tests/testRot3.cpp
index ecadc5c68..3472dc49a 100644
--- a/geometry/tests/testRot3.cpp
+++ b/geometry/tests/testRot3.cpp
@@ -276,11 +276,11 @@ TEST( Rot3, compose )
 	CHECK(assert_equal(expected,actual));
 
 	Matrix numericalH1 = numericalDerivative21(testing::compose<Rot3>, R1,
-			R2, 1e-5);
+			R2, 1e-4);
 	CHECK(assert_equal(numericalH1,actualH1));
 
 	Matrix numericalH2 = numericalDerivative22(testing::compose<Rot3>, R1,
-			R2, 1e-5);
+			R2, 1e-4);
 	CHECK(assert_equal(numericalH2,actualH2));
 }
 
@@ -294,7 +294,7 @@ TEST( Rot3, inverse )
 	CHECK(assert_equal(I,R*R.inverse(actualH)));
 	CHECK(assert_equal(I,R.inverse()*R));
 
-	Matrix numericalH = numericalDerivative11(testing::inverse<Rot3>, R, 1e-5);
+	Matrix numericalH = numericalDerivative11(testing::inverse<Rot3>, R, 1e-4);
 	CHECK(assert_equal(numericalH,actualH));
 }
 
@@ -314,10 +314,10 @@ TEST( Rot3, between )
 	Rot3 actual = R1.between(R2, actualH1, actualH2);
 	CHECK(assert_equal(expected,actual));
 
-	Matrix numericalH1 = numericalDerivative21(testing::between<Rot3> , R1, R2, 1e-5);
+	Matrix numericalH1 = numericalDerivative21(testing::between<Rot3> , R1, R2, 1e-4);
 	CHECK(assert_equal(numericalH1,actualH1));
 
-	Matrix numericalH2 = numericalDerivative22(testing::between<Rot3> , R1, R2, 1e-5);
+	Matrix numericalH2 = numericalDerivative22(testing::between<Rot3> , R1, R2, 1e-4);
 	CHECK(assert_equal(numericalH2,actualH2));
 }