diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 95db611d76..977528b53b 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -192,7 +192,7 @@ TEST (EssentialMatrixFactor, minimization) {
       (Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished());
   initial.insert(1, initialE);
 #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
-  EXPECT_DOUBLES_EQUAL(643.26, graph.error(initial), 1e-2);
+  EXPECT_DOUBLES_EQUAL(313.85, graph.error(initial), 1e-2);
 #else
   EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2);
 #endif
@@ -406,7 +406,7 @@ TEST (EssentialMatrixFactor, extraMinimization) {
   initial.insert(1, initialE);
 
 #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
-  EXPECT_DOUBLES_EQUAL(643.26, graph.error(initial), 1e-2);
+  EXPECT_DOUBLES_EQUAL(313.85, graph.error(initial), 1e-2);
 #else
   EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2);
 #endif