diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
index d1e361bc3..a0ef7b91d 100644
--- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp
+++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
@@ -82,7 +82,9 @@ TEST(OrientedPlane3Factor, lm_translation_error) {
   EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark));
 }
 
-// // *************************************************************************
+// *************************************************************************
+// TODO As described in PR #564 after correcting the derivatives in
+// OrientedPlane3Factor this test fails. It should be debugged and re-enabled.
 /*
 TEST (OrientedPlane3Factor, lm_rotation_error) {
   // Tests one pose, two measurements of the landmark that differ in angle only.
diff --git a/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp
index 06a5ae688..9f6fe5b50 100644
--- a/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp
+++ b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp
@@ -78,6 +78,8 @@ TEST(LocalOrientedPlane3Factor, lm_translation_error) {
 }
 
 // *************************************************************************
+// TODO As described in PR #564 after correcting the derivatives in
+// OrientedPlane3Factor this test fails. It should be debugged and re-enabled.
 /*
 TEST (LocalOrientedPlane3Factor, lm_rotation_error) {
   // Tests one pose, two measurements of the landmark that differ in angle only.
@@ -86,7 +88,8 @@ TEST (LocalOrientedPlane3Factor, lm_rotation_error) {
 
   NonlinearFactorGraph graph;
 
-  // Init pose and prior.  Pose Prior is needed since a single plane measurement does not fully constrain the pose
+  // Init pose and prior.  Pose Prior is needed since a single plane measurement
+  // does not fully constrain the pose
   Pose3 init_pose = Pose3::identity();
   graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001));