diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index 0b8c4a8a376307f191ecbe6d118f1840ad07934f..f6e8e18f10247e1c819121bc9e4494dd26ac6efe 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -40,7 +40,7 @@ TEST(FactorRelativePose2dWithExtrinsics, check_tree)
 
 TEST(FactorRelativePose2dWithExtrinsics, fix_0_solve)
 {
-    for (int i = 0; i < 1e3; i++)
+    for (int i = 0; i < 1e2; i++)
     {
         // Random delta
         Vector3d delta = Vector3d::Random() * 10;
@@ -88,7 +88,7 @@ TEST(FactorRelativePose2dWithExtrinsics, fix_0_solve)
 
 TEST(FactorRelativePose2dWithExtrinsics, fix_1_solve)
 {
-    for (int i = 0; i < 1e3; i++)
+    for (int i = 0; i < 1e2; i++)
     {
         // Random delta
         Vector3d delta = Vector3d::Random() * 10;
@@ -136,7 +136,7 @@ TEST(FactorRelativePose2dWithExtrinsics, fix_1_solve)
 
 TEST(FactorRelativePose2dWithExtrinsics, extrinsics_p_solve)
 {
-    for (int i = 0; i < 1e3; i++)
+    for (int i = 0; i < 1e2; i++)
     {
         // Random delta
         Vector3d delta = Vector3d::Random() * 10;
@@ -184,7 +184,7 @@ TEST(FactorRelativePose2dWithExtrinsics, extrinsics_p_solve)
 
 TEST(FactorRelativePose2dWithExtrinsics, extrinsics_o_solve)
 {
-    for (int i = 0; i < 1e3; i++)
+    for (int i = 0; i < 1e2; i++)
     {
         // Random delta
         Vector3d delta = Vector3d::Random() * 10;