diff --git a/gtsam/sfm/BinaryMeasurement.h b/gtsam/sfm/BinaryMeasurement.h
index 41ffa38d6..99f0e6882 100644
--- a/gtsam/sfm/BinaryMeasurement.h
+++ b/gtsam/sfm/BinaryMeasurement.h
@@ -18,6 +18,13 @@
  * @brief Binary measurement for representing edges in the epipolar graph
  */
 
+#include <ostream>
+
+
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/Lie.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/NoiseModel.h>
 
@@ -71,22 +78,17 @@ public:
     }
 
     /** equals */
-    bool equals(const BetweenMeasurement& expected, double tol=1e-9) const {
-      const BetweenMeasurement<VALUE> *e =  dynamic_cast<const  BetweenMeasurement<VALUE>*> (&expected);
-      return e != nullptr && key1_ == expected.key1() && 
-             key2_ == expected.key2() 
+    bool equals(const BinaryMeasurement& expected, double tol=1e-9) const {
+      const BinaryMeasurement<VALUE> *e =  dynamic_cast<const  BinaryMeasurement<VALUE>*> (&expected);
+      return e != nullptr && key1_ == e->key1_ && 
+             key2_ == e->key2_
              && traits<VALUE>::Equals(this->measured_, e->measured_, tol) && 
-             noiseModel_.equals(expected.noiseModel());
+             noiseModel_->equals(expected.noiseModel());
     }
 
     /** return the measured */
-    const VALUE& measured() const {
+    VALUE measured() const {
       return measured_;
     }
-
-    /** number of variables attached to this measurement */
-    std::size_t size() const {
-      return 2;
-    }
   }; // \class BetweenMeasurement
 }
\ No newline at end of file
diff --git a/tests/testTranslationRecovery.cpp b/tests/testTranslationRecovery.cpp
index 5a98c3bf5..eb34ba803 100644
--- a/tests/testTranslationRecovery.cpp
+++ b/tests/testTranslationRecovery.cpp
@@ -49,15 +49,17 @@ TEST(TranslationRecovery, BAL) {
       poses, {{0, 1}, {0, 2}, {1, 2}});
 
   // Check
-  const Pose3 wTa = poses.at<Pose3>(0), wTb = poses.at<Pose3>(1),
-              wTc = poses.at<Pose3>(2);
-  const Point3 Ta = wTa.translation(), Tb = wTb.translation(),
-               Tc = wTc.translation();
-  const Rot3 aRw = wTa.rotation().inverse();
-  const Unit3 w_aZb = relativeTranslations.at({0, 1});
-  EXPECT(assert_equal(Unit3(Tb - Ta), w_aZb));
-  const Unit3 w_aZc = relativeTranslations.at({0, 2});
-  EXPECT(assert_equal(Unit3(Tc - Ta), w_aZc));
+  Unit3 w_aZb_stored; // measurement between 0 and 1 stored for next unit test
+  for(auto& unitTranslation : relativeTranslations) {
+    const Pose3 wTa = poses.at<Pose3>(unitTranslation.key1()), 
+                wTb = poses.at<Pose3>(unitTranslation.key2());
+    const Point3 Ta = wTa.translation(), Tb = wTb.translation();
+    const Unit3 w_aZb = unitTranslation.measured();
+    EXPECT(assert_equal(Unit3(Tb - Ta), w_aZb));
+    if(unitTranslation.key1() == 0 && unitTranslation.key2() == 1) {
+      w_aZb_stored = unitTranslation.measured();
+    }
+  }
 
   TranslationRecovery algorithm(relativeTranslations);
   const auto graph = algorithm.buildGraph();
@@ -69,10 +71,14 @@ TEST(TranslationRecovery, BAL) {
 
   // Check result for first two translations, determined by prior
   EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0)));
-  EXPECT(assert_equal(Point3(2 * w_aZb.point3()), result.at<Point3>(1)));
+  EXPECT(assert_equal(Point3(2 * w_aZb_stored.point3()), result.at<Point3>(1)));
 
   // Check that the third translations is correct
-  Point3 expected = (Tc - Ta) * (scale / (Tb - Ta).norm());
+  Point3 Ta = poses.at<Pose3>(0).translation();
+  Point3 Tb = poses.at<Pose3>(1).translation();
+  Point3 Tc = poses.at<Pose3>(2).translation();
+  Point3 expected = 
+      (Tc - Ta) * (scale / (Tb - Ta).norm());
   EXPECT(assert_equal(expected, result.at<Point3>(2), 1e-4));
 
   // TODO(frank): how to get stats back?