diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index dd98c6f99..c2aa39352 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2918,7 +2918,7 @@ class BinaryMeasurementsUnit3 {
   BinaryMeasurementsUnit3();
   size_t size() const;
   gtsam::BinaryMeasurement<gtsam::Unit3> at(size_t idx) const;
-  void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3> measurement);
+  void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3>& measurement);
 };
 
 #include <gtsam/sfm/ShonanAveraging.h>
diff --git a/python/gtsam/tests/test_TranslationRecovery.py b/python/gtsam/tests/test_TranslationRecovery.py
index d49ce8e11..ec6d6a83f 100644
--- a/python/gtsam/tests/test_TranslationRecovery.py
+++ b/python/gtsam/tests/test_TranslationRecovery.py
@@ -5,28 +5,30 @@ import unittest
 
 import gtsam
 
-def SimulateMeasurements(gt_poses, graph_edges):
-    measurements = gtsam.BinaryMeasurementsUnit3()
-    for edge in graph_edges:
-        Ta = gt_poses.atPose3(edge[0]).translation()
-        Tb = gt_poses.atPose3(edge[1]).translation()
-        measurements.append(BinaryMeasurementUnit3( \
-            edge[0], edge[1], gtsam.Unit3(Tb - Ta), \
-            gtsam.noiseModel.Isotropic.Sigma(3, 0.01)))
-    return measurements
-
-# Hard-coded values from dubrovnik-3-7-pre.txt
+""" Returns example pose values of 3 points A, B and C in the world frame """
 def ExampleValues():
     T = []
-    T.append(gtsam.Point3(np.array([7.3030e-01, -2.6490e-01, -1.7127e+00])))
+    T.append(gtsam.Point3(np.array([3.14, 1.59, 2.65])))
     T.append(gtsam.Point3(np.array([-1.0590e+00, -3.6017e-02, -1.5720e+00])))
     T.append(gtsam.Point3(np.array([8.5034e+00, 6.7499e+00, -3.6383e+00])))
     
     data = gtsam.Values()
     for i in range(len(T)):
-        data.insert(i, gtsam.Pose3(R[i], T[i]))
+        data.insert(i, gtsam.Pose3(gtsam.Rot3(), T[i]))
     return data
 
+""" Returns binary measurements for the points in the given edges."""
+def SimulateMeasurements(gt_poses, graph_edges):
+    measurements = gtsam.BinaryMeasurementsUnit3()
+    for edge in graph_edges:
+        Ta = gt_poses.atPose3(edge[0]).translation()
+        Tb = gt_poses.atPose3(edge[1]).translation()
+        measurements.append(gtsam.BinaryMeasurementUnit3( \
+            edge[0], edge[1], gtsam.Unit3(Tb - Ta), \
+            gtsam.noiseModel.Isotropic.Sigma(3, 0.01)))
+    return measurements
+
+""" Tests for the translation recovery class """
 class TestTranslationRecovery(unittest.TestCase):
     """Test selected Translation Recovery methods."""
 
@@ -39,9 +41,17 @@ class TestTranslationRecovery(unittest.TestCase):
         gt_poses = ExampleValues()
         measurements = SimulateMeasurements(gt_poses, [[0, 1], [0, 2], [1, 2]])
         algorithm = gtsam.TranslationRecovery(measurements)
-        result = algorithm.run(2.0)
-        for i in range(3):
-            self.gtsamAssertEquals(result.atPoint3(i), 2*gt_poses.atPose3(i).translation(), 1e-6)
+        scale = 2.0
+        result = algorithm.run(scale)
+
+        w_aTc = gt_poses.atPose3(2).translation() - gt_poses.atPose3(0).translation()
+        w_aTb = gt_poses.atPose3(1).translation() - gt_poses.atPose3(0).translation()
+        w_aTc_expected = w_aTc*scale/np.linalg.norm(w_aTb)
+        w_aTb_expected = w_aTb*scale/np.linalg.norm(w_aTb)
+
+        np.testing.assert_array_almost_equal(result.atPoint3(0), np.array([0,0,0]), 6, "Origin result is incorrect.")
+        np.testing.assert_array_almost_equal(result.atPoint3(1), w_aTb_expected, 6, "Point B result is incorrect.")
+        np.testing.assert_array_almost_equal(result.atPoint3(2), w_aTc_expected, 6, "Point C result is incorrect.")
 
 if __name__ == "__main__":
     unittest.main()