diff --git a/gtsam/sfm/MFAS.cpp b/gtsam/sfm/MFAS.cpp
index bc66d0711..4cd983ecd 100644
--- a/gtsam/sfm/MFAS.cpp
+++ b/gtsam/sfm/MFAS.cpp
@@ -7,8 +7,6 @@
 
 #include <gtsam/sfm/MFAS.h>
 
-#include <boost/shared_ptr.hpp>
-
 #include <algorithm>
 #include <map>
 #include <unordered_map>
diff --git a/gtsam/sfm/tests/testMFAS.cpp b/gtsam/sfm/tests/testMFAS.cpp
index b2daf0d2e..362027d5d 100644
--- a/gtsam/sfm/tests/testMFAS.cpp
+++ b/gtsam/sfm/tests/testMFAS.cpp
@@ -9,8 +9,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <iostream>
-
 using namespace std;
 using namespace gtsam;
 
diff --git a/python/gtsam/examples/TranslationAveragingExample.py b/python/gtsam/examples/TranslationAveragingExample.py
index 7e8c96b15..054b61126 100644
--- a/python/gtsam/examples/TranslationAveragingExample.py
+++ b/python/gtsam/examples/TranslationAveragingExample.py
@@ -59,7 +59,7 @@ def get_data() -> Tuple[gtsam.Values, List[gtsam.BinaryMeasurementUnit3]]:
     return wRc_values, i_iZj_list
 
 
-def prune_to_inliers(w_iZj_list: gtsam.BinaryMeasurementsUnit3) -> gtsam.BinaryMeasurementsUnit3:
+def filter_outliers(w_iZj_list: gtsam.BinaryMeasurementsUnit3) -> gtsam.BinaryMeasurementsUnit3:
     """Removes outliers from a list of Unit3 measurements that are the 
     translation directions from camera i to camera j in the world frame."""
 
@@ -120,7 +120,7 @@ def estimate_poses(i_iZj_list: gtsam.BinaryMeasurementsUnit3,
             i_iZj.key1(), i_iZj.key2(), w_iZj, i_iZj.noiseModel()))
 
     # Remove the outliers in the unit translation directions.
-    w_iZj_inliers = prune_to_inliers(w_iZj_list)
+    w_iZj_inliers = filter_outliers(w_iZj_list)
 
     # Run the optimizer to obtain translations for normalized directions.
     wtc_values = gtsam.TranslationRecovery(w_iZj_inliers).run()