diff --git a/gtsam/base/tests/testLieScalar.cpp b/gtsam/base/tests/testLieScalar.cpp
index 141b55761..07e666fbe 100644
--- a/gtsam/base/tests/testLieScalar.cpp
+++ b/gtsam/base/tests/testLieScalar.cpp
@@ -37,8 +37,8 @@ TEST(LieScalar , Concept) {
 //******************************************************************************
 TEST(LieScalar , Invariants) {
   LieScalar lie1(2), lie2(3);
-  check_group_invariants(lie1, lie2);
-  check_manifold_invariants(lie1, lie2);
+  CHECK(check_group_invariants(lie1, lie2));
+  CHECK(check_manifold_invariants(lie1, lie2));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/geometry/tests/testPoint2.cpp b/gtsam/geometry/tests/testPoint2.cpp
index fce7955e9..7ed27ab2e 100644
--- a/gtsam/geometry/tests/testPoint2.cpp
+++ b/gtsam/geometry/tests/testPoint2.cpp
@@ -37,8 +37,8 @@ TEST(Double , Concept) {
 //******************************************************************************
 TEST(Double , Invariants) {
   double p1(2), p2(5);
-  check_group_invariants(p1, p2);
-  check_manifold_invariants(p1, p2);
+  EXPECT(check_group_invariants(p1, p2));
+  EXPECT(check_manifold_invariants(p1, p2));
 }
 
 //******************************************************************************
@@ -51,8 +51,8 @@ TEST(Point2 , Concept) {
 //******************************************************************************
 TEST(Point2 , Invariants) {
   Point2 p1(1, 2), p2(4, 5);
-  check_group_invariants(p1, p2);
-  check_manifold_invariants(p1, p2);
+  EXPECT(check_group_invariants(p1, p2));
+  EXPECT(check_manifold_invariants(p1, p2));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp
index 5c6b32dca..6811ed122 100644
--- a/gtsam/geometry/tests/testPoint3.cpp
+++ b/gtsam/geometry/tests/testPoint3.cpp
@@ -36,8 +36,8 @@ TEST(Point3 , Concept) {
 //******************************************************************************
 TEST(Point3 , Invariants) {
   Point3 p1(1, 2, 3), p2(4, 5, 6);
-  check_group_invariants(p1, p2);
-  check_manifold_invariants(p1, p2);
+  EXPECT(check_group_invariants(p1, p2));
+  EXPECT(check_manifold_invariants(p1, p2));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp
index 803bb7c3f..5b835200a 100644
--- a/gtsam/geometry/tests/testPose2.cpp
+++ b/gtsam/geometry/tests/testPose2.cpp
@@ -775,15 +775,15 @@ Pose2 T2(M_PI / 2.0, Point2(0.0, 2.0));
 TEST(Pose2 , Invariants) {
   Pose2 id;
 
-  check_group_invariants(id,id);
-  check_group_invariants(id,T1);
-  check_group_invariants(T2,id);
-  check_group_invariants(T2,T1);
+  EXPECT(check_group_invariants(id,id));
+  EXPECT(check_group_invariants(id,T1));
+  EXPECT(check_group_invariants(T2,id));
+  EXPECT(check_group_invariants(T2,T1));
 
-  check_manifold_invariants(id,id);
-  check_manifold_invariants(id,T1);
-  check_manifold_invariants(T2,id);
-  check_manifold_invariants(T2,T1);
+  EXPECT(check_manifold_invariants(id,id));
+  EXPECT(check_manifold_invariants(id,T1));
+  EXPECT(check_manifold_invariants(T2,id));
+  EXPECT(check_manifold_invariants(T2,T1));
 
 }
 
diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index d749ba6af..98c80e356 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -760,15 +760,15 @@ TEST( Pose3, stream)
 TEST(Pose3 , Invariants) {
   Pose3 id;
 
-  check_group_invariants(id,id);
-  check_group_invariants(id,T3);
-  check_group_invariants(T2,id);
-  check_group_invariants(T2,T3);
+  EXPECT(check_group_invariants(id,id));
+  EXPECT(check_group_invariants(id,T3));
+  EXPECT(check_group_invariants(T2,id));
+  EXPECT(check_group_invariants(T2,T3));
 
-  check_manifold_invariants(id,id);
-  check_manifold_invariants(id,T3);
-  check_manifold_invariants(T2,id);
-  check_manifold_invariants(T2,T3);
+  EXPECT(check_manifold_invariants(id,id));
+  EXPECT(check_manifold_invariants(id,T3));
+  EXPECT(check_manifold_invariants(T2,id));
+  EXPECT(check_manifold_invariants(T2,T3));
 }
 
 //******************************************************************************
diff --git a/gtsam/geometry/tests/testQuaternion.cpp b/gtsam/geometry/tests/testQuaternion.cpp
index 82d3283bd..0421e1e44 100644
--- a/gtsam/geometry/tests/testQuaternion.cpp
+++ b/gtsam/geometry/tests/testQuaternion.cpp
@@ -107,15 +107,15 @@ TEST(Quaternion , Inverse) {
 
 //******************************************************************************
 TEST(Quaternion , Invariants) {
-  check_group_invariants(id, id);
-  check_group_invariants(id, R1);
-  check_group_invariants(R2, id);
-  check_group_invariants(R2, R1);
+  EXPECT(check_group_invariants(id, id));
+  EXPECT(check_group_invariants(id, R1));
+  EXPECT(check_group_invariants(R2, id));
+  EXPECT(check_group_invariants(R2, R1));
 
-  check_manifold_invariants(id, id);
-  check_manifold_invariants(id, R1);
-  check_manifold_invariants(R2, id);
-  check_manifold_invariants(R2, R1);
+  EXPECT(check_manifold_invariants(id, id));
+  EXPECT(check_manifold_invariants(id, R1));
+  EXPECT(check_manifold_invariants(R2, id));
+  EXPECT(check_manifold_invariants(R2, R1));
 }
 
 //******************************************************************************
diff --git a/gtsam/geometry/tests/testRot2.cpp b/gtsam/geometry/tests/testRot2.cpp
index 37054fd83..6ead22860 100644
--- a/gtsam/geometry/tests/testRot2.cpp
+++ b/gtsam/geometry/tests/testRot2.cpp
@@ -163,15 +163,15 @@ Rot2 T2(0.2);
 TEST(Rot2 , Invariants) {
   Rot2 id;
 
-  check_group_invariants(id,id);
-  check_group_invariants(id,T1);
-  check_group_invariants(T2,id);
-  check_group_invariants(T2,T1);
+  EXPECT(check_group_invariants(id,id));
+  EXPECT(check_group_invariants(id,T1));
+  EXPECT(check_group_invariants(T2,id));
+  EXPECT(check_group_invariants(T2,T1));
 
-  check_manifold_invariants(id,id);
-  check_manifold_invariants(id,T1);
-  check_manifold_invariants(T2,id);
-  check_manifold_invariants(T2,T1);
+  EXPECT(check_manifold_invariants(id,id));
+  EXPECT(check_manifold_invariants(id,T1));
+  EXPECT(check_manifold_invariants(T2,id));
+  EXPECT(check_manifold_invariants(T2,T1));
 
 }
 
diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 7e0dcc43f..349f87029 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -659,17 +659,17 @@ Rot3 T2(Rot3::rodriguez(Vector3(0, 1, 0), 2));
 TEST(Rot3 , Invariants) {
   Rot3 id;
 
-  check_group_invariants(id,id);
-  check_group_invariants(id,T1);
-  check_group_invariants(T2,id);
-  check_group_invariants(T2,T1);
-  check_group_invariants(T1,T2);
+  EXPECT(check_group_invariants(id,id));
+  EXPECT(check_group_invariants(id,T1));
+  EXPECT(check_group_invariants(T2,id));
+  EXPECT(check_group_invariants(T2,T1));
+  EXPECT(check_group_invariants(T1,T2));
 
-  check_manifold_invariants(id,id);
-  check_manifold_invariants(id,T1);
-  check_manifold_invariants(T2,id);
-  check_manifold_invariants(T2,T1);
-  check_manifold_invariants(T1,T2);
+  EXPECT(check_manifold_invariants(id,id));
+  EXPECT(check_manifold_invariants(id,T1));
+  EXPECT(check_manifold_invariants(T2,id));
+  EXPECT(check_manifold_invariants(T2,T1));
+  EXPECT(check_manifold_invariants(T1,T2));
 }
 
 //******************************************************************************
diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp
index acbf3bcf5..bc32e0df0 100644
--- a/gtsam/geometry/tests/testSO3.cpp
+++ b/gtsam/geometry/tests/testSO3.cpp
@@ -57,15 +57,15 @@ TEST(SO3 , Retract) {
 
 //******************************************************************************
 TEST(SO3 , Invariants) {
-  check_group_invariants(id,id);
-  check_group_invariants(id,R1);
-  check_group_invariants(R2,id);
-  check_group_invariants(R2,R1);
+  EXPECT(check_group_invariants(id,id));
+  EXPECT(check_group_invariants(id,R1));
+  EXPECT(check_group_invariants(R2,id));
+  EXPECT(check_group_invariants(R2,R1));
 
-  check_manifold_invariants(id,id);
-  check_manifold_invariants(id,R1);
-  check_manifold_invariants(R2,id);
-  check_manifold_invariants(R2,R1);
+  EXPECT(check_manifold_invariants(id,id));
+  EXPECT(check_manifold_invariants(id,R1));
+  EXPECT(check_manifold_invariants(R2,id));
+  EXPECT(check_manifold_invariants(R2,R1));
 }
 
 //******************************************************************************