diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 4c6c950da..42b5c4919 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -199,7 +199,7 @@ TEST (EssentialMatrixFactor, minimization) {
       (Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished());
   initial.insert(1, initialE);
 #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
-  EXPECT_DOUBLES_EQUAL(59403.51, graph.error(initial), 1e-2);
+  EXPECT_DOUBLES_EQUAL(18161.79, graph.error(initial), 1e-2);
 #else
   EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2); # TODO: redo this error
 #endif
@@ -361,7 +361,7 @@ TEST (EssentialMatrixFactor3, minimization) {
 //*************************************************************************
 TEST(EssentialMatrixFactor4, factor) {
   Key keyE(1);
-  Key keyK(1);
+  Key keyK(2);
   for (size_t i = 0; i < 5; i++) {
     EssentialMatrixFactor4<Cal3_S2> factor(keyE, keyK, pA(i), pB(i), model1);
 
@@ -408,7 +408,7 @@ TEST(EssentialMatrixFactor4, evaluateErrorJacobians) {
   Point2 pB(12.0, 15.0);
 
   EssentialMatrixFactor4<Cal3_S2> f(keyE, keyK, pA, pB, model1);
-  EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-6);
+  EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-5);
 }
 
 //*************************************************************************
@@ -434,16 +434,16 @@ TEST(EssentialMatrixFactor4, minimization) {
   initial.insert(1, initialE);
   initial.insert(2, initialK);
 #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
-  EXPECT_DOUBLES_EQUAL(643.26, graph.error(initial), 1e-2);
+  EXPECT_DOUBLES_EQUAL(2914.92, graph.error(initial), 1e-2);
 #else
   EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial),
                        1e-2);  // TODO: update this value too
 #endif
 
   // add prior factor for calibration
-  Vector5 priorNoiseModelSigma;
-  priorNoiseModelSigma << 0.1, 0.1, 0.01, 0.1, 0.1;
-  graph.emplace_shared<PriorFactor<Cal3_S2>>(2, initialK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma));
+  // Vector5 priorNoiseModelSigma;
+  // priorNoiseModelSigma << 0.1, 0.1, 0.01, 0.1, 0.1;
+  // graph.emplace_shared<PriorFactor<Cal3_S2>>(2, initialK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma));
 
   // Optimize
   LevenbergMarquardtParams parameters;
@@ -667,7 +667,7 @@ TEST(EssentialMatrixFactor4, extraMinimization) {
   initial.insert(2, initialK);
 
 #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
-  EXPECT_DOUBLES_EQUAL(643.62, graph.error(initial), 1e-2);
+  EXPECT_DOUBLES_EQUAL(59418.96, graph.error(initial), 1e-2);
 #else
   EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2); // TODO: fix this
 #endif