diff --git a/gtsam/geometry/Similarity2.cpp b/gtsam/geometry/Similarity2.cpp
index 12529f52d..6e5da635b 100644
--- a/gtsam/geometry/Similarity2.cpp
+++ b/gtsam/geometry/Similarity2.cpp
@@ -193,7 +193,7 @@ Similarity2 Similarity2::Align(const Pose2Pairs& abPosePairs) {
     rotations.emplace_back(aRb);
     abPointPairs.emplace_back(aTi.translation(), bTi.translation());
   }
-  const Rot2 aRb_estimate;  // = FindKarcherMean<Rot2>(rotations);
+  const Rot2 aRb_estimate = FindKarcherMean<Rot2>(rotations);
 
   return internal::alignGivenR(abPointPairs, aRb_estimate);
 }
diff --git a/python/gtsam/tests/test_Sim2.py b/python/gtsam/tests/test_Sim2.py
index 1d09dcc3b..3e39ac45c 100644
--- a/python/gtsam/tests/test_Sim2.py
+++ b/python/gtsam/tests/test_Sim2.py
@@ -27,10 +27,10 @@ class TestSim2(GtsamTestCase):
         Scenario:
            3 object poses
            same scale (no gauge ambiguity)
-           world frame has poses rotated about x-axis (90 degree roll)
+           world frame has poses rotated about 180 degrees.
            world and egovehicle frame translated by 15 meters w.r.t. each other
         """
-        Rx90 = Rot2.fromDegrees(90)
+        R180 = Rot2.fromDegrees(180)
 
         # Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame)
         # Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame
@@ -41,10 +41,10 @@ class TestSim2(GtsamTestCase):
         eToi_list = [eTo0, eTo1, eTo2]
 
         # Create destination poses
-        # (same three objects, but instead living in the world/city "w" frame)
-        wTo0 = Pose2(Rx90, np.array([-10, 0]))
-        wTo1 = Pose2(Rx90, np.array([-5, 0]))
-        wTo2 = Pose2(Rx90, np.array([0, 0]))
+        # (same three objects, but instead living in the world "w" frame)
+        wTo0 = Pose2(R180, np.array([-10, 0]))
+        wTo1 = Pose2(R180, np.array([-5, 0]))
+        wTo2 = Pose2(R180, np.array([0, 0]))
 
         wToi_list = [wTo0, wTo1, wTo2]
 
@@ -62,10 +62,10 @@ class TestSim2(GtsamTestCase):
         Scenario:
            3 object poses
            with gauge ambiguity (2x scale)
-           world frame has poses rotated about z-axis (90 degree yaw)
+           world frame has poses rotated by 90 degrees.
            world and egovehicle frame translated by 11 meters w.r.t. each other
         """
-        Rz90 = Rot2.Rz(np.deg2rad(90))
+        R90 = Rot2.fromDegrees(90)
 
         # Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame)
         # Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame
@@ -77,9 +77,9 @@ class TestSim2(GtsamTestCase):
 
         # Create destination poses
         # (same three objects, but instead living in the world/city "w" frame)
-        wTo0 = Pose2(Rz90, np.array([0, 12]))
-        wTo1 = Pose2(Rz90, np.array([0, 14]))
-        wTo2 = Pose2(Rz90, np.array([0, 18]))
+        wTo0 = Pose2(R90, np.array([0, 12]))
+        wTo1 = Pose2(R90, np.array([0, 14]))
+        wTo2 = Pose2(R90, np.array([0, 18]))
 
         wToi_list = [wTo0, wTo1, wTo2]