diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp
index 5b04b92c6..2133c0ee8 100644
--- a/gtsam/slam/visualSLAM.cpp
+++ b/gtsam/slam/visualSLAM.cpp
@@ -31,7 +31,7 @@ namespace visualSLAM {
     if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K");
     if (Z.cols() != J.size()) throw std::invalid_argument(
           "insertBackProjections: J and Z must have same number of entries");
-    for(size_t k=0;k<Z.cols();k++) {
+    for(int k=0;k<Z.cols();k++) {
       Point2 p(Z(0,k),Z(1,k));
       Point3 P = camera.backproject(p, depth);
       insertPoint(J(k), P);
@@ -82,7 +82,7 @@ namespace visualSLAM {
     if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K");
     if (Z.cols() != J.size()) throw std::invalid_argument(
           "addMeasurements: J and Z must have same number of entries");
-    for (size_t k = 0; k < Z.cols(); k++)
+    for (int k = 0; k < Z.cols(); k++)
       addMeasurement(Point2(Z(0, k), Z(1, k)), model, i, J(k), K);
   }
 
diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index f63d2add5..9fdd6512f 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -431,7 +431,7 @@ bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, cons
 	bool totalGradOk = assert_equal(expectedGradient, actualGradient);
 	EXPECT(totalGradOk);
 
-	return nodeGradientsOk && expectedGradOk && totalGradOk;
+	return nodeGradientsOk && expectedGradOk && totalGradOk && isamEqual;
 }
 
 /* ************************************************************************* */