diff --git a/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp b/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
index f152b7def..5e65f3022 100644
--- a/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
+++ b/gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
@@ -151,16 +151,6 @@ TEST( MultiProjectionFactor, noisy ){
   double actualError = smartFactor->error(values);
   double expectedError = sqrt(0.08);
 
-  const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-
-  NonlinearFactorGraph graph;
-  graph.push_back(smartFactor);
-  graph.add(PriorFactor<Pose3>(x1, level_pose, noisePrior));
-
-  LevenbergMarquardtOptimizer optimizer(graph, values);
-  Values result = optimizer.optimize();
-
-  result.print("results of the optimization \n");
   // we do not expect to be able to predict the error, since the error on the pixel will change
   // the triangulation of the landmark which is internal to the factor.
   //  DOUBLES_EQUAL(expectedError, actualError, 1e-7);
@@ -169,7 +159,7 @@ TEST( MultiProjectionFactor, noisy ){
 
 ///* ************************************************************************* */
 TEST( MultiProjectionFactor, 3poses ){
-  cout << " ************************ MultiProjectionFactor: noisy ****************************" << endl;
+  cout << " ************************ MultiProjectionFactor: 3 cams + 3 landmarks **********************" << endl;
 
   Symbol x1('X',  1);
   Symbol x2('X',  2);
@@ -178,53 +168,78 @@ TEST( MultiProjectionFactor, 3poses ){
   const SharedDiagonal noiseProjection = noiseModel::Isotropic::Sigma(2, 1);
 
   std::vector<Key> views;
-  views += x1, x2; //, x3;
+  views += x1, x2, x3;
 
   Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480));
   // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
-  Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
-  SimpleCamera level_camera(level_pose, *K);
+  Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
+  SimpleCamera cam1(pose1, *K);
 
   // create second camera 1 meter to the right of first camera
-  Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0));
-  SimpleCamera level_camera_right(level_pose_right, *K);
+  Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
+  SimpleCamera cam2(pose2, *K);
 
-  // landmark ~5 meters infront of camera
-  Point3 landmark(5, 0.5, 1.2);
+  // create third camera 1 meter above the first camera
+  Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
+  SimpleCamera cam3(pose2, *K);
 
-  // 1. Project two landmarks into two cameras and triangulate
-  Point2 pixelError(0.2,0.2);
-  Point2 level_uv = level_camera.project(landmark) + pixelError;
-  Point2 level_uv_right = level_camera_right.project(landmark);
+  // three landmarks ~5 meters infront of camera
+  Point3 landmark1(5, 0.5, 1.2);
+  Point3 landmark2(5, -0.5, 1.2);
+  Point3 landmark3(5, 0, 3.0);
 
-  Values values;
-  values.insert(x1, level_pose);
-  Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3));
-  values.insert(x2, level_pose_right.compose(noise_pose));
+  vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
 
-//  poses += level_pose, level_pose_right;
-  vector<Point2> measurements;
-  measurements += level_uv, level_uv_right;
+  // 1. Project three landmarks into three cameras and triangulate
+  Point2 cam1_uv1 = cam1.project(landmark1);
+  Point2 cam2_uv1 = cam2.project(landmark1);
+  Point2 cam3_uv1 = cam3.project(landmark1);
+  measurements_cam1 += cam1_uv1, cam2_uv1, cam3_uv1;
 
-  SmartProjectionFactor<Pose3, Point3, Cal3_S2>::shared_ptr
-    smartFactor(new SmartProjectionFactor<Pose3, Point3, Cal3_S2>(measurements, noiseProjection, views, K));
+  //
+  Point2 cam1_uv2 = cam1.project(landmark2);
+  Point2 cam2_uv2 = cam2.project(landmark2);
+  Point2 cam3_uv2 = cam3.project(landmark2);
+  measurements_cam2 += cam1_uv2, cam2_uv2, cam3_uv2;
 
-  double actualError = smartFactor->error(values);
-  double expectedError = sqrt(0.08);
+
+  Point2 cam1_uv3 = cam1.project(landmark3);
+  Point2 cam2_uv3 = cam2.project(landmark3);
+  Point2 cam3_uv3 = cam3.project(landmark3);
+  measurements_cam3 += cam1_uv3, cam2_uv3, cam3_uv3;
+
+  typedef SmartProjectionFactor<Pose3, Point3, Cal3_S2> SmartFactor;
+
+  SmartFactor::shared_ptr smartFactor1(new SmartFactor(measurements_cam1, noiseProjection, views, K));
+  SmartFactor::shared_ptr smartFactor2(new SmartFactor(measurements_cam2, noiseProjection, views, K));
+  SmartFactor::shared_ptr smartFactor3(new SmartFactor(measurements_cam3, noiseProjection, views, K));
+
+//  double actualError = smartFactor->error(values);
+//  double expectedError = sqrt(0.08);
 
   const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
 
   NonlinearFactorGraph graph;
-  graph.push_back(smartFactor);
-  graph.add(PriorFactor<Pose3>(x1, level_pose, noisePrior));
+  graph.push_back(smartFactor1);
+  graph.push_back(smartFactor2);
+  graph.push_back(smartFactor3);
+  graph.add(PriorFactor<Pose3>(x1, pose1, noisePrior));
 
-  LevenbergMarquardtOptimizer optimizer(graph, values);
+
+  Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3));
+  Values values;
+  values.insert(x1, pose1);
+  values.insert(x2, pose1);
+  values.insert(x3, pose3* noise_pose);
+
+  LevenbergMarquardtParams params;
+  params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
+  params.verbosity = NonlinearOptimizerParams::ERROR;
+  LevenbergMarquardtOptimizer optimizer(graph, values, params);
   Values result = optimizer.optimize();
 
-  result.print("results of the optimization \n");
-  // we do not expect to be able to predict the error, since the error on the pixel will change
-  // the triangulation of the landmark which is internal to the factor.
-  //  DOUBLES_EQUAL(expectedError, actualError, 1e-7);
+  result.print("results of 3 camera, 3 landmark optimization \n");
+
 }