diff --git a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
index a841b753b..c2ebd49fb 100644
--- a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
+++ b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
@@ -456,121 +456,71 @@ TEST( SmartProjectionPoseFactorRollingShutter, hessian_simple_2poses ) {
   EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6);
 }
 
- /* *************************************************************************
- TEST( SmartProjectionPoseFactorRollingShutter, 3poses_iterative_smart_projection_factor ) {
-  std::cout << "===================" << std::endl;
- using namespace vanillaPose;
+/* *************************************************************************/
+TEST( SmartProjectionPoseFactorRollingShutter, landmarkDistance ) {
+  using namespace vanillaPoseRS;
+  Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
 
- KeyVector views {x1, x2, x3};
+  // Project three landmarks into three cameras
+  projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
+  projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
+  projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
 
- Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
+  // create inputs
+  std::vector<std::pair<Key, Key>> key_pairs;
+  key_pairs.push_back(std::make_pair(x1, x2));
+  key_pairs.push_back(std::make_pair(x2, x3));
+  key_pairs.push_back(std::make_pair(x3, x1));
 
- // Project three landmarks into three cameras
- projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
- projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
- projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
+  std::vector<double> interp_factors;
+  interp_factors.push_back(interp_factor1);
+  interp_factors.push_back(interp_factor2);
+  interp_factors.push_back(interp_factor3);
 
- SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedK));
- smartFactor1->add(measurements_cam1, views);
+  double excludeLandmarksFutherThanDist = 2;
+  SmartProjectionParams params;
+  params.setRankTolerance(1.0);
+  params.setLinearizationMode(gtsam::HESSIAN);
+  params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY);
+  params.setLandmarkDistanceThreshold(excludeLandmarksFutherThanDist);
+  params.setEnableEPI(false);
 
- SmartFactor::shared_ptr smartFactor2(new SmartFactor(model, sharedK));
- smartFactor2->add(measurements_cam2, views);
+  SmartFactorRS smartFactor1(model,params);
+  smartFactor1.add(measurements_cam1, key_pairs, interp_factors, sharedK);
 
- SmartFactor::shared_ptr smartFactor3(new SmartFactor(model, sharedK));
- smartFactor3->add(measurements_cam3, views);
+  SmartFactorRS smartFactor2(model,params);
+  smartFactor2.add(measurements_cam2, key_pairs, interp_factors, sharedK);
 
- const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
+  SmartFactorRS smartFactor3(model,params);
+  smartFactor3.add(measurements_cam3, key_pairs, interp_factors, sharedK);
 
- NonlinearFactorGraph graph;
- graph.push_back(smartFactor1);
- graph.push_back(smartFactor2);
- graph.push_back(smartFactor3);
- graph.addPrior(x1, cam1.pose(), noisePrior);
- graph.addPrior(x2, cam2.pose(), noisePrior);
+  const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
 
- //  Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
- Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
- Point3(0.1, 0.1, 0.1)); // smaller noise
- Values values;
- values.insert(x1, cam1.pose());
- values.insert(x2, cam2.pose());
- // initialize third pose with some noise, we expect it to move back to original pose_above
- values.insert(x3, pose_above * noise_pose);
- EXPECT(
- assert_equal(
- Pose3(
- Rot3(1.11022302e-16, -0.0314107591, 0.99950656, -0.99950656,
- -0.0313952598, -0.000986635786, 0.0314107591, -0.999013364,
- -0.0313952598), Point3(0.1, -0.1, 1.9)),
- values.at<Pose3>(x3)));
+  NonlinearFactorGraph graph;
+  graph.push_back(smartFactor1);
+  graph.push_back(smartFactor2);
+  graph.push_back(smartFactor3);
+  graph.addPrior(x1, level_pose, noisePrior);
+  graph.addPrior(x2, pose_right, noisePrior);
 
- Values result;
- LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
- result = optimizer.optimize();
- EXPECT(assert_equal(pose_above, result.at<Pose3>(x3), 1e-7));
- }
+  Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
+                           Point3(0.1, 0.1, 0.1));  // smaller noise
+  Values values;
+  values.insert(x1, level_pose);
+  values.insert(x2, pose_right);
+  // initialize third pose with some noise, we expect it to move back to original pose_above
+  values.insert(x3, pose_above * noise_pose);
 
- /* *************************************************************************
- TEST( SmartProjectionPoseFactorRollingShutter, landmarkDistance ) {
-
- using namespace vanillaPose;
-
- double excludeLandmarksFutherThanDist = 2;
-
- KeyVector views {x1, x2, x3};
-
- Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
-
- // Project three landmarks into three cameras
- projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
- projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
- projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
-
- SmartProjectionParams params;
- params.setRankTolerance(1.0);
- params.setLinearizationMode(gtsam::JACOBIAN_SVD);
- params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY);
- params.setLandmarkDistanceThreshold(excludeLandmarksFutherThanDist);
- params.setEnableEPI(false);
-
- SmartFactor::shared_ptr smartFactor1(
- new SmartFactor(model, sharedK, params));
- smartFactor1->add(measurements_cam1, views);
-
- SmartFactor::shared_ptr smartFactor2(
- new SmartFactor(model, sharedK, params));
- smartFactor2->add(measurements_cam2, views);
-
- SmartFactor::shared_ptr smartFactor3(
- new SmartFactor(model, sharedK, params));
- smartFactor3->add(measurements_cam3, views);
-
- const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-
- NonlinearFactorGraph graph;
- graph.push_back(smartFactor1);
- graph.push_back(smartFactor2);
- graph.push_back(smartFactor3);
- graph.addPrior(x1, cam1.pose(), noisePrior);
- graph.addPrior(x2, cam2.pose(), noisePrior);
-
- //  Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
- Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
- Point3(0.1, 0.1, 0.1)); // smaller noise
- Values values;
- values.insert(x1, cam1.pose());
- values.insert(x2, cam2.pose());
- values.insert(x3, pose_above * noise_pose);
-
- // All factors are disabled and pose should remain where it is
- Values result;
- LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
- result = optimizer.optimize();
- EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3)));
- }
+  // All factors are disabled and pose should remain where it is
+  Values result;
+  LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
+  result = optimizer.optimize();
+  EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3)));
+}
 
  /* *************************************************************************
  TEST( SmartProjectionPoseFactorRollingShutter, dynamicOutlierRejection ) {
+   std::cout << "===================" << std::endl;
 
  using namespace vanillaPose;