diff --git a/gtsam_unstable/base/tests/testBAD.cpp b/gtsam_unstable/base/tests/testBAD.cpp
index d8d95ed92..4320ce931 100644
--- a/gtsam_unstable/base/tests/testBAD.cpp
+++ b/gtsam_unstable/base/tests/testBAD.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3_S2.h>
+#include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/base/Testable.h>
 
@@ -101,11 +102,23 @@ public:
 
 TEST(BAD, test) {
 
+  // Create some values
+  Values values;
+  values.insert(1,Pose3());
+  values.insert(2,Point3(0,0,1));
+  values.insert(3,Cal3_S2());
+
+  // Create old-style factor to create expected value and derivatives
+  Point2 measured(0,1);
+  SharedNoiseModel model = noiseModel::Unit::Create(2);
+  GeneralSFMFactor2<Cal3_S2> old(measured, model, 1, 2, 3);
+  GaussianFactor::shared_ptr expected = old.linearize(values);
+
   // Create leaves
   Expression<Pose3> x(1);
   Expression<Point3> p(2);
   Expression<Cal3_S2> K(3);
-  Expression<Point2> uv(Point2(300, 62));
+  Expression<Point2> uv(measured);
 
   // Create expression tree
   Expression<Point3> p_cam = transformTo(x, p);
@@ -116,25 +129,15 @@ TEST(BAD, test) {
   // Create factor
   BADFactor<Point2> f(e);
 
-  // Create some values
-  Values values;
-
   // Check value
-  EXPECT_DOUBLES_EQUAL(0, f.error(values), 1e-9);
+  EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9);
 
   // Check dimension
   EXPECT_LONGS_EQUAL(0, f.dim());
 
   // Check linearization
-  JacobianFactor expected( //
-      1, (Matrix(2, 6) << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12), //
-      2, (Matrix(2, 3) << 1, 2, 3, 4, 5, 6), //
-      3, (Matrix(2, 5) << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10), //
-      (Vector(2) << 1, 2));
   boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
-  boost::shared_ptr<JacobianFactor> jf = //
-      boost::dynamic_pointer_cast<JacobianFactor>(gf);
-  EXPECT( assert_equal(expected, *jf,1e-9));
+  EXPECT( assert_equal(*expected, *gf, 1e-9));
 }
 
 /* ************************************************************************* */