diff --git a/matlab/unstable_examples/TSAMFactorsExample.m b/matlab/unstable_examples/TSAMFactorsExample.m
index 5ee9f3909..abdfc5922 100644
--- a/matlab/unstable_examples/TSAMFactorsExample.m
+++ b/matlab/unstable_examples/TSAMFactorsExample.m
@@ -4,41 +4,59 @@
 import gtsam.*;
 
 % noise models
-noisePrior = noiseModel.Diagonal.Sigmas([0; 0; 0]);
+noisePrior = noiseModel.Diagonal.Sigmas([100; 100; 100]);
 noiseDelta = noiseModel.Isotropic.Sigma(2, 0.1);
 noiseOdom = noiseModel.Diagonal.Sigmas([0.1; 0.1; 0.05]);
 
-% Example is 1, landmark, 2 poses 10 and 20, 2 base nodes 100 and 200
+% Example is 2 landmarks 1 and 2, 2 poses 10 and 20, 2 base nodes 100 and 200
+%      l1       l2
 %       +       +
-% - b - p - l - p - b
-%   +---+-------+---+
+% - b - p - p - b
+%   +---+---+---+
+
+% True values
+b1 = Pose2(0,0,0);
+b2 = Pose2(2,0,0);
+l1 = Point2(0,1);
+l2 = Point2(2,1);
+
 % Create a graph
-graph = NonlinearFactorGraph
+graph = NonlinearFactorGraph;
 origin = Pose2;
-graph.add(gtsam.PriorFactorPose2(100, origin, noisePrior))
 graph.add(gtsam.PriorFactorPose2(10, origin, noisePrior))
 graph.add(gtsam.PriorFactorPose2(20, origin, noisePrior))
-graph.add(DeltaFactor(10, 1, Point2(1,0), noiseDelta))
-graph.add(DeltaFactor(20, 1, Point2(-1,0), noiseDelta))
+graph.add(gtsam.PriorFactorPose2(100, origin, noisePrior))
+graph.add(DeltaFactor(10, 1, b1.transform_to(l1), noiseDelta))
+graph.add(DeltaFactor(20, 1, b2.transform_to(l2), noiseDelta))
+graph.add(DeltaFactorBase(100,10, 200,2, b1.transform_to(l2), noiseDelta))
+graph.add(DeltaFactorBase(200,20, 100,1, b2.transform_to(l1), noiseDelta))
 graph.add(OdometryFactorBase(100,10,200,20, Pose2(2,0,0), noiseOdom))
-graph
 
 % Initial values
 initial = Values;
 initial.insert(100,origin);
 initial.insert(10,origin);
-initial.insert(1,Point2(2,0));
+initial.insert(1,l1);
+initial.insert(2,l2);
 initial.insert(20,origin);
 initial.insert(200,origin);
 
-graph.error(initial)
-graph.at(0).error(initial)
-graph.at(1).error(initial)
-graph.at(2).error(initial)
-graph.at(3).error(initial)
-
 % optimize
 params = LevenbergMarquardtParams;
-params.setVerbosity('ERROR');
+% params.setVerbosity('ERROR');
 optimizer = LevenbergMarquardtOptimizer(graph, initial, params);
-result = optimizer.optimize()
\ No newline at end of file
+result = optimizer.optimize();
+
+% Check result
+CHECK('error',result.at(100).equals(b1,1e-5))
+CHECK('error',result.at(10).equals(origin,1e-5))
+CHECK('error',result.at(1).equals(Point2(0,1),1e-5))
+CHECK('error',result.at(2).equals(Point2(0,1),1e-5))
+CHECK('error',result.at(20).equals(origin,1e-5))
+CHECK('error',result.at(200).equals(b2,1e-5))
+
+% Check error
+CHECK('error',abs(graph.error(result))<1e-9)
+for i=0:7
+  CHECK('error',abs(graph.at(i).error(result))<1e-9)
+end