diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 001e6b997..72fd031e6 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -524,85 +524,6 @@ TEST( SmartProjectionPoseFactor, Factors ){
 
 }
 
-/* *************************************************************************/
-TEST( SmartProjectionPoseFactor, Factors ){
-
-  // Default cameras for simple derivatives
-  Rot3 R;
-  static Cal3_S2::shared_ptr K(new Cal3_S2(100, 100, 0, 0, 0));
-  SimpleCamera cam1(Pose3(R,Point3(0,0,0)),*K), cam2(Pose3(R,Point3(1,0,0)),*K);
-
-  // one landmarks 1m in front of camera
-  Point3 landmark1(0,0,10);
-
-  vector<Point2> measurements_cam1;
-
-  // Project 2 landmarks into 2 cameras
-  cout << cam1.project(landmark1) << endl;
-  cout << cam2.project(landmark1) << endl;
-  measurements_cam1.push_back(cam1.project(landmark1));
-  measurements_cam1.push_back(cam2.project(landmark1));
-
-  // Create smart factors
-  std::vector<Key> views;
-  views.push_back(x1);
-  views.push_back(x2);
-
-  SmartFactor::shared_ptr smartFactor1 = boost::make_shared<SmartFactor>();
-  smartFactor1->add(measurements_cam1, views, model, K);
-
-  SmartFactor::Cameras cameras;
-  cameras.push_back(cam1);
-  cameras.push_back(cam2);
-
-  // Make sure triangulation works
-  LONGS_EQUAL(2,smartFactor1->triangulateSafe(cameras));
-  CHECK(!smartFactor1->isDegenerate());
-  CHECK(!smartFactor1->isPointBehindCamera());
-  boost::optional<Point3> p = smartFactor1->point();
-  CHECK(p);
-  EXPECT(assert_equal(landmark1,*p));
-
-  {
-    // RegularHessianFactor<6>
-    Matrix66 G11; G11.setZero(); G11(0,0) = 100; G11(0,4) = -10; G11(4,0) = -10; G11(4,4) = 1;
-    Matrix66 G12; G12 = -G11; G12(0,2) = -10; G12(4,2) = 1;
-    Matrix66 G22; G22 = G11; G22(0,2) = 10; G22(2,0) = 10; G22(2,2) = 1; G22(2,4) = -1; G22(4,2) = -1;
-
-    Vector6 g1; g1.setZero();
-    Vector6 g2; g2.setZero();
-
-    double f = 0;
-
-    RegularHessianFactor<6> expected(x1, x2, 50 * G11, 50 * G12, g1, 50 * G22, g2, f);
-
-    boost::shared_ptr<RegularHessianFactor<6> > actual =
-          smartFactor1->createHessianFactor(cameras, 0.0);
-    CHECK(assert_equal(expected.information(),actual->information(),1e-8));
-    CHECK(assert_equal(expected,*actual,1e-8));
-  }
-
-  {
-    // RegularImplicitSchurFactor<6>
-    Matrix26 F1; F1.setZero(); F1(0,1)=-100; F1(0,3)=-10; F1(1,0)=100; F1(1,4)=-10;
-    Matrix26 F2; F2.setZero(); F2(0,1)=-101; F2(0,3)=-10; F2(0,5)=-1; F2(1,0)=100; F2(1,2)=10; F2(1,4)=-10;
-    Matrix43 E; E.setZero(); E(0,0)=10; E(1,1)=10; E(2,0)=10; E(2,2)=1;E(3,1)=10;
-    const vector<pair<Key, Matrix26> > Fblocks = list_of<pair<Key, Matrix> > //
-        (make_pair(x1, F1))(make_pair(x2, F2));
-    Matrix3 P = (E.transpose() * E).inverse();
-    Vector4 b; b.setZero();
-
-    RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b);
-
-    boost::shared_ptr<RegularImplicitSchurFactor<6> > actual =
-          smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0);
-    CHECK(actual);
-    CHECK(assert_equal(expected,*actual));
-  }
-
-}
-
-
 /* *************************************************************************/
 TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
   // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;